Automated cell processing systems and methods

ABSTRACT

Systems and methods for automated cell processing of biological samples, such as cells for use in cell therapy and regenerative medicine. Systems for automated processing of batches derived from biological samples comprise: a closed and sterile enclosure; a plurality of reagent containers; at least one reagent dispenser; a quality control module for analyzing at least one characteristic of a batch; a harvesting module; a robotic module; and a control unit (CU) communicatively coupled to the at least one reagent dispenser, the quality control module, the harvesting module and the robotic module for controlling the automatic processing of batches. The automatic processing may be executable without handling by a human operator. The system may be configured to automatically process the plurality of batches without cross-contamination between batches, e.g., under GMP conditions.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims priority to U.S. Provisional PatentApplication No. 63/352,468 filed on Jun. 20, 2016, the entirety of whichis incorporated herein by reference.

FIELD OF THE INVENTION

The present disclosure relates to the field of cell processing employingautomated systems and, more particularly, relates to apparatus andmethod for processing cells for use in cell therapy and regenerativemedicine, as well as other biological samples.

BACKGROUND

Stem cell therapies hold much promise for regenerative medicine. Stemcells have the potential to develop into many different cell types inthe body and can theoretically divide without limit to replenish cellsin need of repair. There are different types of stem cells with varyingranges of commitment options. Embryonic stem cells hold great potentialfor regenerative medicine, however, they have many disadvantagesincluding the possibility of transplant rejection and possible teratomaformation if the cells are not properly differentiated prior totransplantation. Adult stem cells such as neural stem cells (NSC) andoligodendrocyte precursor cells (OPC) have a more restricteddevelopmental potential than embryonic stem cells and generallydifferentiate along their lineage of origin. While adult neural stemcells also represent a promising treatment option for neurodegenerativedisorders, there are numerous disadvantages, including difficulty ofisolation, limited expansion capability, and immune rejection oftransplanted donor cells. The same or similar limitations apply for mostother cells and stem cells.

For a stem cell to graft permanently and efficiently (in a functionalmanner) into a patient's tissue, the stem cell is ideally autologous(i.e., the patient's own). There is a desire therefore in the medical,scientific, and diagnostic fields to reprogram an easily obtainable cell(such as a somatic cell) from a patient into a stem-like cell,preferably without fusing or exchanging material with an oocyte oranother stem cell, for use in stem cell therapy. Methods for generatingsafe and efficacious autologous stem cells for a specific tissue, organor condition to be treated, as well as new stem cells with new or uniquefeatures such as enhanced potency and/or safety, have been reported. Forexample, Ahlfors et al. describe methods of reprogramming easilyobtainable cells to highly desirable multipotent or unipotent cells,including stem-like cells and progenitor-like cells as well as celllines and tissues, by a process of in vitro dedifferentiation and invitro reprogramming (International PCT Application Publication No.WO2011/050476, U.S. Patent Application Publication Nos. US20120220034,US20120288936, and US20140038291). Such cells can potentially betransplanted back into a patient to regenerate damaged or lost tissue ina wide range of disorders and conditions such as Parkinson's disease,multiple sclerosis, heart disease, spinal cord injury, cancer, and soon.

However, the use of such cells in human therapy is severely restrictedby the limitations of current production methods which are long,labor-intensive, inefficient, and expensive. Realizing the fullpotential of cell therapies, especially autologous stem cell therapies,will require addressing the challenges inherent in obtaining appropriatecells for millions of individuals while meeting the regulatoryrequirements of delivering therapy and keeping costs affordable. It isestimated that, using current production methods for iPS cells (inducedpluripotent stem cells) or reprogrammed cells, two people working in asingle clean room can only process about 20 samples per year, assumingthat no samples are lost due to bacterial or cross contamination orhuman error, and the costs of production are prohibitive. In addition tothis, several quality control personnel are needed to determine theidentity, purity, potency, etc. of the cells as well as ensuring thecell product is not contaminated. Many of these same challenges andrequirements apply for producing or maintaining various cell lines,e.g., for research purposes, as well as for producing biologicalproducts or biomaterials where cells or tissues are involved.

Generally, with current production methods, only one cell-line can beprocessed at a time to ensure no risk of cross-contamination, andequipment must be sterilized between each sample. It may take weeks ormonths to process one cell line. In order to meet Good ManufacturingPractices (GMP) guidelines e.g., for human somatic cell therapy, allsteps must be performed in a clean room meeting CLIA or otherrequirements and in the presence of at least two persons. Multiplecomplex and precisely-timed steps must be performed, along with safetytesting and analytical testing for quality control throughout, all ofwhich must be documented in detail. Cells must also meet stringentsafety and potency standards for approval for human therapeutic use.Clearly there is a need for improved methods of generating specificcells suitable for particular human therapeutic applications especiallyfrom autologous human cells and other types of cells, in particular toincrease the speed and efficiency of cell processing and quality controlanalysis while reducing the risk of cross-contamination between celllines and the risk of human error, in order to meet regulatoryguidelines and at affordable cost.

U.S. Pat. No. 8,784,735 describes an apparatus for automated processingof biological samples. There is described an apparatus for automatedprocessing of at least one biological sample accommodated on a carriermember, such as a slide, by applying a predetermined amount of reagentsin a predetermined sequence according to a processing protocol, saidapparatus comprising: a housing frame; at least one processing sectionfor accommodating at least one slide, the at least one processingsection being provided within the housing; a hood cover protecting theat least one processing section in said housing, wherein the hood covercompletely encloses the processing section defining an interior space;and wherein the apparatus further comprises a climate control deviceprovided to control the environment within the interior space. While thedisclosed apparatus and methods are suitable for processing fixedbiological samples, they cannot be used to process live biologicalsamples such as dividing cells and cell lines.

Commercially available cell culture processing systems such as Cellmate™(Sartorius Stedim, Wilmington, Del., U.S.A.) provide full automation ofprocesses needed to culture cells in roller bottles and T-flasks. Suchsystems offer large volume, single cell-line production includingautomated cell seeding, enzymatic and mechanical harvesting, cell sheetrinsing, media changing, and transient transfection. The Cellmate™system was developed for a GMP environment. However, such systems canonly be used in a clean room and can only process one cell-line at atime, as they do not control for cross-contamination between cell lines.They are not fully automated, still requiring human handling for certainsteps or functions (such as capping and uncapping tubes) and otheranalytical assays. Although the Cellmate™ system can measure cell count,cell viability, and cell confluency, it cannot perform other qualitycontrol tests needed to meet GMP regulations (such as tests foridentity, potency, purity, sterility, etc.).

CompacT SelecT™ (Sartorius Stedim, Wilmington, Del., U.S.A.) provides anautomated cell culture system for maintaining and expanding multiplecells lines, including plating cells ready for assaying, harvestingcells, performing transfections, and determining cell number andviability. The system includes a flask incubator, an aseptic processingenvironment, and various plating modules, along with bar-coded tracking.However, the system can only be used in a clean room and can onlyprocess one cell-line at a time, as it does not control forcross-contamination between cell lines. The system is suitable only forexpanding cells, not for processing of cells (such as reprogramming) andcannot perform quality control tests needed to meet GMP regulations. Thesystem is not fully automated, still requiring human handling forcertain steps or functions. For example, in order to reload suppliesinto the system, it must be manually opened and re-stocked.

Fulga et al. (U.S. Patent Application Publication No. 2011/0206643)describes an automated cell processing system for receiving a tissuecontaining a multiplicity of cells belonging to multiple cell types, andautomatically increasing both the proportion and the absolute number ofcells of at least one of the multiple cell types as compared with atleast another of the multiple cell types. A self-scraping cell cultureassembly comprising a generally annular dish defining a generally flat,circularly-shaped cell growth surface; a cover arranged for sealingengagement with the annular dish; and at least one scraper blademechanically associated with the cover, whereby rotation of the coverrelative to the dish provides scraping of cells from thecircularly-shaped cell growth surface. The system also includes anautomated packaging functionality. However, the system is not fullyautomated and has many of the limitations of other systems describedabove.

SUMMARY

It is an object of the present invention to ameliorate at least some ofthe inconveniences present in the prior art.

There are provided herein systems and methods for automated processingof biological samples that are executable without handling by a humanoperator and/or are capable of processing a plurality of batches at thesame time without cross-contamination between batches, optionally underconditions that meet GMP guidelines and regulations.

In some implementations, systems are designed to maintain sterility tosuch an extent that they need not be operated in a clean room. Forexample, the system can be restocked with consumables such as reagents,media, plasticware and the like without disturbing the sterility of thesystem or exposing the system to the outside environment. In someimplementations, systems can perform Quality Control (QC) tests such asverifying cell identity, cell purity, cell potency, and/or batchsterility (i.e., no contamination), during or after processing. In someimplementations, end-to-end processing is provided, i.e., a biologicalsample is introduced into the system and the desired end product ispresented by the system after processing, without requiring handling bya human operator. In some implementations, monitoring, tracking andrecording systems keep detailed records of every step of the process,including QC testing. Such records can be used for quality assurancepurposes and to verify that all applicable regulations have been met. Insome implementations, quality assurance (QA) of the end product and/orend product release is performed without requiring a human operator. Insome implementations, the product is stored and/or packaged fortransport after completion of QC and QA without requiring a humanoperator.

In some implementations, therefore, systems and methods described hereinmay provide one or more of the following advantages: allowing processingof multiple biological samples or batches in sequence or at the sametime without cross-contamination between samples/batches and/or underGMP conditions (conditions that meet Good Manufacturing Practices (GMP)guidelines or regulations); allowing fast, efficient, and/or affordableprocessing; being executable without human intervention during theprocessing (except to restock consumables, which can be done withoutinterrupting processing or disrupting sterility/the asepticenvironment); providing fully automated end-to-end processing, that mayalso include storage and/or packaging of the final end product;obviating the need for personnel operating in a clean room e.g., meetingCLIA requirements; having integrated analytical and quality control (QC)capabilities, including all QC testing required for GMP guidelines andregulations; providing detailed reports of the processing for qualityassurance purposes; and verifying automatically that the end productmeets applicable regulations and is suitable for its intended purpose,such as human therapy. In some implementations, systems and methodsdescribed herein provide increased efficiency and quality of processingover previous systems.

Systems and methods may be used for a wide variety of processing on manydifferent types of biological samples. For example, systems and methodsmay be used to reprogram or transform cells of a first type (such assomatic cells, stem cells, progenitor cells) to cells of a desiredsecond type (such as multipotent, unipotent, or pluripotent cells) foruse e.g. in human therapy. Systems and methods may be used for directreprogramming of cells; for production of multipotent, unipotent, orpluripotent cells; for production of stem-like or progenitor-like cells;for production of induced pluripotent stem cells (iPSCs); for productionof embryonic stem cells; and for production of other cells useful fortherapeutic, diagnostic, or research purposes. Methods of in vitrodedifferentiation and in vitro reprogramming are detailed in, forexample, International PCT Application Publication No. WO2011/050476,U.S. Provisional Application No. 61/256,967, U.S. patent applicationSer. No. 14/958,791, and U.S. Patent Application Publication Nos.US20120220034, US20120288936, and US20140038291, all of which are herebyincorporated by reference in their entirety. Systems and methods mayalso be used for growth or expansion of cells; for transfection ofcells, including stable transfection; for gene editing, including geneinsertion, gene deletion, and gene correction; for treatment of cells,e.g., with compounds, antibodies, or other active agents; for inducingdifferentiation of cells; and combinations thereof. Cells may bemanipulated or treated before, during, or after expansion depending onthe starting number of cells and the desired end product. Systems andmethods may also be used for generation of biomaterials (e.g., tissues,matrices, etc.), generation of biologics (e.g., proteins, antibodies,vaccines, growth factors, etc.), processing of tissues into single cellsand/or extraction of extracellular matrix components, for growth oftissues, and for growth or expansion of cells and cell lines, as well asfor screening or discovery research. For example, systems and methodsmay be used to express and purify therapeutic proteins, antibodies,growth factors, and the like; produce a tissue matrix from a bloodsample; isolate and expand a desired cell type from a population ofcells; purify extracellular matrix components; expand a cell line;differentiate cells; reprogram or transform cells; transfect cells tointroduce vectors, plasmids, RNAs, therapeutic molecules, and the like;repair genetic mutations in cells; and so on. It is contemplated thatother applications for processing a product or determining an endproduct are possible and neither the type of processing nor the type ofbiological sample being processed is meant to be particularly limited.As used herein, the term “processing” is meant to encompass broadly anysuch modification, extraction, purification, maintenance, production,expression, growth, culturing, transformation, expansion or treatment ofbiological samples, particularly live biological samples such asdividing cells and cell lines and tissues containing dividing cells andcell lines. In certain implementations, a “biological sample” does notinclude samples that have been treated with a fixative agent, e.g., forhistological examination.

In a first broad aspect, there is provided a system for automatedprocessing of batches, the batches being derived from biologicalsamples, the system comprising: a closed and sterile (i.e., aseptic)enclosure; a plurality of reagent containers; at least one reagentdispenser; a quality control module for analyzing at least onecharacteristic of a batch; a harvesting module; a robotic module; and acontrol unit (CU) communicatively coupled to the at least one reagentdispenser, the quality control module, the harvesting module and therobotic module for controlling the automatic processing of the batches,the automatic processing being executable without handling by a humanoperator. The system may further comprise numerous components, modules,processing stations, etc., as described herein. In some implementations,the enclosure is at least a Class 10 or ISO 4 environment. In someimplementations, the system is configured to automatically process aplurality of batches. In some implementations, the system is configuredto automatically process the plurality of batches in compliance withgood manufacturing practice (GMP) regulations or guidelines, i.e., underGMP conditions. In some implementations, at least one of the qualitycontrol module, the harvesting module, and the robotic module is housedinside the enclosure, automatic processing of cells being conductedinside the enclosure.

In a second broad aspect, there is provided a system for automatedprocessing of a plurality of batches, the batches being derived frombiological samples, the system comprising: a closed and sterile (i.e.,aseptic) enclosure; a plurality of reagent containers; at least onereagent dispenser; a quality control module for analyzing at least onecharacteristic of a batch; a harvesting module; a robotic module; and acontrol unit (CU) communicatively coupled to the at least one reagentdispenser, the quality control module, the harvesting module and therobotic module for controlling the automatic processing of the batches,the system being configured to automatically process the plurality ofbatches without cross-contamination between batches. In someimplementations, the system is configured to automatically process theplurality of batches at the same time using sequential processing. Insome implementations, the system is configured to automatically processthe plurality of batches in compliance with good manufacturing practice(GMP) regulations or guidelines, i.e., under GMP conditions. In someimplementations, the automatic processing is executable without handlingby a human operator. The system may further comprise numerouscomponents, modules, processing stations, etc., as described herein. Insome implementations, the enclosure is at least a Class 10 or ISO 4environment. In some implementations, at least one of the qualitycontrol module, the harvesting module, and the robotic module ispositioned inside the enclosure, automatic processing of cells beingconducted inside the enclosure.

In some implementations, systems described herein further comprise anisolator, the enclosure being selectively fluidly connected to theisolator, and objects from outside the system being received into theenclosure via the isolator, objects from inside the enclosure beingpassed out of the system via the isolator. In some implementations, thesystem further comprises a biological safety cabinet (BSC), the isolatorbeing selectively fluidly connected to the BSC, and objects from outsidethe system being received into the isolator via the BSC, objects frominside the enclosure being passed out of the system by passing from theenclosure to the isolator and from the isolator to the BSC via theisolator.

In some implementations, two or more systems are selectively fluidlyconnected to each other, e.g., via an incubator, a freezer, or othersimilar component disposed outside the enclosures and selectivelyfluidly connected to each enclosure or system.

In a third broad aspect, there is provided an automated method forprocessing a batch in a closed and sterile (i.e., aseptic) enclosure,the batch being derived from a biological sample inserted into theenclosure, the automated method comprising: automatically processing thebatch with one or more reagents; automatically analyzing at least onecharacteristic of the batch; and after automatically processing thebatch, automatically harvesting the batch for reception outside theenclosure; the automated method being executable without any handling bya human operator. In some implementations the batch comprises aplurality of batches, and the method comprises automatically processingeach of the plurality of batches without cross-contamination betweenbatches. In some implementations, the method is executed in compliancewith good manufacturing practice (GMP) regulations and guidelines, i.e.,under GMP conditions, and/or in a class 10 environment.

In a fourth broad aspect, there is provided an automated method forprocessing a batch in a closed and sterile (i.e., aseptic) enclosure,the batch being derived from a biological sample inserted into theenclosure, the automated method comprising: automatically processing thebatch with one or more reagents; automatically analyzing at least onecharacteristic of the batch; and after automatically processing thebatch, automatically harvesting the batch for reception outside theenclosure; wherein the automated method is capable of processing aplurality of batches without cross-contamination between batches. Insome implementations, the plurality of batches are processed at the sametime using sequential processing. In some implementations, the pluralityof batches are processed in compliance with good manufacturing practice(GMP) guidelines, e.g., under GMP conditions. In some implementations,the automated method is executable without any handling by a humanoperator.

In some implementations, methods provided herein further comprisequality control (QC) testing during and/or after processing, such astests for identity, potency, purity, and sterility. In someimplementations, methods provided herein further comprise analyticaland/or diagnostic testing, such as determination of cell number,viability, and confluency, presence or absence of specific cell markers,growth or differentiation profile, activity, detection of genemutations, and the like. In some implementations, methods providedherein further comprise monitoring, tracking and/or recording details ofevery step of the process, including QC testing, for quality assurancepurposes and to verify that all applicable regulations have been met.

In some implementations, systems and methods provided herein includefunctionalities which expand cells and which conduct quality control(QC) testing before, during and/or after cell expansion, such as testsfor identity, potency, purity, and sterility, in accordance with GMPrequirements. It should be understood that many QC assays may beconducted by the system, including without limitation cell-based assays,fluorescent-, colorimetric- or luminescent-based assays, cell morphologyand cell time-dependent behavior (such as differentiation) assays, flowcytometry based assays, PCR based assays, endotoxin, mycoplasma andsterility assays, cell viability, cell number, cell confluency, and thelike.

In some implementations, systems and methods provided herein includefunctionalities which expand cells and purify cells after expansion. Insome implementations, systems and methods provided herein includefunctionalities which expand multiple cell lines at the same timewithout cross-contamination between cell lines. For example,functionalities may be included which ensure that no more than onesample is open at the same time in the enclosure. Similarly, reagent andsupply containers are not opened when a sample container is open. Otherincluded functionalities include those which reduce particle generation;allow sterilization of the system between cell processing steps; andfunctionalities for capping, uncapping, and recapping containers, whichensure that containers are not kept open longer than necessary and thatcontainers are not open when or if a sample container is open; and thelike. Particle monitoring can be used to pause processing steps untilparticle counts have gone below a pre-set threshold that ensures nocross-contamination between samples, and/or no cross-contamination fromsamples to stock reagents. Such functionalities facilitate processing ofmultiple batches at the same time without cross-contamination betweenbatches.

In some implementations, systems and methods provided herein includefunctionalities that isolate cells from a starting tissue sample inpreparation for further expansion or other processing.

In some implementations, systems and methods provided herein includefunctionalities that freeze or thaw cells.

In some implementations, systems and methods provided herein includefunctionalities that package cells, e.g., for transport or storage.

In some implementations, systems and methods provided herein includefunctionalities that provide cells in vials or cassettes for transportor storage.

In some implementations, systems and methods provided herein include oneor more, two or more, three or more, or all of the followingfunctionalities: 1) isolation of cells from starting tissue or from amixture of various cell types; 2) identification and tracking of cellsamples, e.g., using barcodes, positional information, and the like; 3)cell processing, e.g., expansion, purification (including enrichment ordepletion, e.g. via magnetic antibodies), activation, reprogramming,gene editing (gene insertion, deletion, correction), transfection, andother desired manipulations of cells. Functionalities for analytical,e.g., marker expression level analysis (e.g., via fluorescent antibodystaining and analysis), cell behaviour analysis including determinationof differentiation profile, diagnostic testing to identify e.g. genemutations, and QC testing including tests for identity, purity andsterility (optionally including endotoxin and mycoplasma testing), aswell as for determination of cell number, confluency and viability, mayalso be included and can be conducted at any time before, during orafter cell processing; 4) storage and transport, e.g., freezing cells invials if desired or placing live cultures in a transport container (suchas a Petaka™ cassette), packaging cells for transport, and the like; and5) additional cell analytical capabilities as desired, such aspurification of desired cell types, selection of a desired potency,removal of dead cells, magnetic cell sorting, and the like.

In some implementations, systems and methods provided herein includefunctionalities which provide a complete record of cell processing fromstart to finish for Quality Assurance (QA) verification, in accordancewith GMP requirements. The system can verify that all steps wereperformed properly and check all assay results (e.g., pass/failresults). Further, systems and methods may include functionalities fortracking batches, e.g., using barcodes and positional memory, inaccordance with GMP guidelines. Further, QA analysis may include testingfor sterility, contaminants (such as endotoxin and mycoplasma), andother tests as may be desired in accordance with GMP guidelines andother applicable regulations.

In some implementations, systems and methods provided herein include oneor more, two or more, three or more, or all the followingfunctionalities: 1) cell processing; 2) quality control; 3) qualityassurance; 4) harvesting of cells and preparation for storage ortransport and 5) analytical testing of cells (such as, withoutlimitation, diagnostic testing). In some implementations, systems andmethods provided here may further include functionalities for samplepreparation, e.g., for isolating cells for processing from a startingbiological sample.

In some implementations, systems and methods provided herein include afunctionality which handles reagents under GMP conditions. Reagents areautomatically imported into the enclosure, verified (e.g., using abarcode reader), opened, dispensed into aliquots, and stored by thesystem. Such reagents can be automatically introduced into the enclosurein the manufacturer's packaging, obviating the need for a human to opena reagent container. In some implementations, a functionality whichrobotically transports materials into and out of the enclosure isincluded. In some implementations, a functional testing of a reagent isperformed to ensure it meets specifications, optionally together withsterility, endotoxin and/or mycoplasma testing.

In some implementations, systems and methods provided herein include acontrol unit which performs fully automated processing without humanintervention. The control unit not only executes processing steps butdecides which steps to follow in order to produce a desired end product.For example, the control unit can determine which steps to performdepending on assay data obtained at various steps during the processing.

In some implementations, systems provided herein comprise a plurality ofsystems connected together. For example, a first system may be connectedto a second system through a freezer or an incubator which is placedbetween the two systems and connected separately to each one.Alternatively, two enclosures may be connected to each other. It shouldbe understood that a plurality of systems can be connected together inthis way, either directly (enclosure-to-enclosure) or through a sharedcomponent such as a freezer, a refrigerator, an incubator, etc. Thenumber of systems that can be connected in this way is not particularlylimited.

In some implementations, systems provided herein comprise one or more,two or more, three or more, four or more, five or more, more than five,or all of the following automated components, or a combination thereof:(1) a robotic aspirator with disposable tips with the capability ofchanging the tip after each use or between samples, such thatcross-contamination between samples is reduced or eliminated withoutrequiring sterilization of the robotic aspirator component; (2) one ormore decapper modules, for opening and closing a screwcap lid ofcontainers, including large (>10 ml containers); (3) a centrifuge, cellsorter or magnet, e.g., for purifying cell mixtures (which canoptionally also be achieved by e.g. magnetic cell separation) orobtaining a cell pellet or for collection or removal of cells; (4) anincubator for incubating cells; (5) a confluency reader or cell counterfor determining cell number and/or cell confluency in a sample or in acell-containing vessel; (6) a direct liquid to plate fill station orcontinuous flow robotic reagent dispenser for dispensing a volume ofliquid directly into a cell-containing vessel (e.g., volumes>5 ml); and(7) a tilt module for aspiration or collection of cells or of cellculture media, optionally as a magnetic separation tilt module.

In some implementations, systems provided herein comprise a sealedenclosure configured to minimize particle generation, e.g.: including acentrifuge placed below deck and sealed from the enclosure during use;including a vertical waste chute in which solid waste is dropped, sizedso that waste does not hit the edges of the chute during disposal, andplaced under strong enough negative pressure so no entry of particlesfrom the chute into the enclosure occurs; including closable vents forsealing the enclosure to allow sterilization of the enclosure; includinga functionality which provides rapid clean air for rapidly exchangingall the air in the system with clean air of the system; and other suchfunctionalities and components as are described herein.

In some implementations, systems provided herein comprise a magneticseparation tilt module, e.g., for magnetic separation or transfection ofcells. In some implementations, systems provided herein comprise anon-deck temperature-controlled freezer, such as a Grant freezer, forfreezing of samples or to allow manipulation of samples and reagents atsubzero temperatures.

In some implementations, systems provided herein comprise a tilt moduleconfigured to hold cell culture transport trays (such as Petaka™ trays)for loading or removing samples from transport trays.

In some implementations, systems provided herein comprise autoclavablebottle or tube holders that hold bottles or tubes to allow automateddecapping and capping as well as automated transport of the bottle(s) ortube(s) within the system.

In some implementations, systems provided herein comprise a direct fillto cell processing container media fill station with dripping andoverflow control.

In some implementations, systems provided herein comprise a roboticaspirator with changeable, sterile, disposable tips, with the capabilityof the system changing the tip by itself (without human intervention)after each use or between samples, such that cross-contamination betweensamples is eliminated or reduced without requiring sterilization of thevacuum aspirator component. In some implementations, the roboticaspirator further comprises an integrated tube and tip gripper. Therobotic aspirator is designed to prevent any backflow or dripping bymaintaining continuous negative pressure through the tip orifice (untildisposal), and the tip being replaced between each use or batch. Thefluid flow channels of the robotic aspirator through which aspiratedfluid flows away from the tip can be further sterilized at, for example,the bleach station at regular intervals.

In some implementations, systems provided herein comprise autoclavabletip holders with system-closable lids, i.e., lids that can be opened andclosed using robotic systems.

In some implementations, systems provided herein comprise a roboticmodule for robotic transport of materials into and out of the enclosure.

In some implementations, systems provided herein comprise a module forcollecting biologicals and other macromolecules secreted or produced bycells, which can be optionally further purified and/or tested foridentity, potency (e.g., activity assays) and/or sterility, andoptionally vialed and/or freeze-dried and/or packaged.

In some implementations, systems and methods provided herein are fullyautomated, the above functionalities being carried out without human orhands-on intervention.

In some implementations, the fully automated systems and methodsprovided herein are conducted in a fully-enclosed processing environmentthat is aseptic and able to meet regulatory requirements for a “cleanroom”, e.g., GMP requirements, CLIA requirements, and the like. Further,a plurality of batches can be processed at the same time under theseconditions without cross-contamination between batches. In another broadaspect, there are provided methods for processing biological samplesusing the automated systems and methods described herein.

In another broad aspect, there are provided batches and biologicalsamples prepared using the automated systems and methods describedherein. A wide variety of biological materials may be prepared using thesystems and methods described herein, including without limitationcells, tissue matrices, proteins, antibodies, vaccines, therapeutics,extracellular matrix components, and the like. In some implementations,cells are stem cells, stem-like cells, unipotent cells, multipotentcells, pluripotent cells, somatic cells, cell lines, immortalized cells,yeast or bacterial cells. Such cells may be prepared for example throughreprogramming, transformation, or differentiation from another celltype. In particular implementations, the cells are autologous cells thatare prepared from a starting biological sample from a patient fortransplantation back into the same patient, e.g., autologous stem,stem-like, multipotent, unipotent, or somatic cells prepared fortherapeutic use in the patient. In some implementations, the cellsprepared are neural stem cells, neural stem-like cells, neural precursorcells, neural progenitor cells, neuroblasts, neurons, cardiac cells,hematopoietic cells, cells of ectoderm, mesoderm or endoderm lineage,pluripotent cells, multipotent cells, unipotent cells, somatic cells,naturally occurring cells, non-naturally occurring cells, prokaryoticcells, and/or eukaryotic cells. It should be understood that manydifferent types of cells may be prepared using systems and methodsdescribed herein, and the type of cell is not meant to be limited.

In one implementation, there is provided a unipotent or multipotent cellprepared using the automated systems and methods described herein. Inanother implementation, there is provided a population of multipotent,unipotent, somatic, or stem-like cells prepared using the automatedsystems and methods described herein.

In some implementations, there are provided methods for reprogramming acell of a first type to a desired cell of a different type that ismultipotent or unipotent using the automated systems and methodsdescribed herein, the cell of a first type being a somatic cell, a stemcell, or a progenitor cell, the automated process executable by thesystems described herein, the methods comprising steps of: introducinginto the cell of a first type using robotic means an agent capable ofremodeling the chromatin and/or DNA of the cell, wherein the agentcapable of remodeling the chromatin and/or DNA is a histone acetylator,an inhibitor of histone deacetylation, a DNA demethylator, and/or achemical inhibitor of DNA methylation; transiently increasingintracellular levels of at least one reprogramming agent in the cell ofa first type using robotic means, wherein the at least one reprogrammingagent increases directly or indirectly the endogenous expression of atleast one multipotent or unipotent gene regulator to a level at whichthe gene regulator is capable of driving transformation of the cell of afirst type into the multipotent or unipotent cell; using robotic meansto maintain the cell of a first type in culture conditions supportingthe transformation of the cell of a first type to the multipotent orunipotent cell for a sufficient period of time to allow a stableexpression of a plurality of secondary genes characteristic of thephenotypical and/or functional properties of the multipotent orunipotent cell, where one or more of the secondary genes is notcharacteristic of phenotypical and functional properties of an embryonicstem cell and wherein stable expression of the plurality of secondarygenes occurs in the absence of the reprogramming agent, whereby at theend of said period of time the cell of a first type has been transformedinto the multipotent or unipotent cell, and where the multipotent orunipotent cell expresses at least one marker characteristic of the cellof a first type.

In another broad aspect, there is provided a robotic aspiratorcomprising: a robotic arm configured to move in at least one direction;a body connected to the robotic arm; and an aspiration member comprisinga fluid flow channel connected to the body, the aspiration member beingconfigured for connection to a pump means; the body being configured tohold a disposable tip for providing fluid connection between thedisposable tip and the fluid flow channel of the aspiration member;fluid being aspirated through the disposable tip and the fluid flowchannel when the disposable tip is fluidly connected to the fluid flowchannel and the aspiration member is connected to the pump means. Insome implementations, the robotic aspirator further comprises aplurality of prongs connected to the body, the prongs being moveablebetween a tip holding position and a retracted position, the prongsbeing configured in the tip holding position to hold the disposable tipfor providing fluid connection between the disposable tip and the fluidflow channel of the aspiration member. In some implementations of therobotic aspirator, the disposable tips are capable of being disengagedfrom the fluid flow channel without handling by a human operator. Insome implementations the prongs can hold tubes.

Methods of automatically aspirating a sample using the robotic aspiratordescribed herein are also provided. In some implementations, there isprovided a method of aspirating using a robotic arm having a fluid flowchannel and a plurality of prongs configured to selectively hold adisposable tip in fluid connection with the fluid flow channel, themethod comprising: moving the prongs to retain the disposable tip influid connection with the fluid flow channel, the prongs beingselectively moveable and optionally further configured to grip at leastone object other than the disposable tip; and evacuating the fluid flowchannel to aspirate liquid through the disposable tip and the fluid flowchannel. In some implementations, the method comprises, after aspiratingliquid, disengaging the prongs from the disposable tip; and stoppingevacuation of the fluid flow channel to disengage the disposable tipfrom the fluid flow channel. In some implementations, the disposable tipdisengages from the fluid flow channel without handling by a humanoperator.

Embodiments of the present invention each have at least one of theabove-mentioned object and/or aspects, but do not necessarily have allof them. It should be understood that some aspects of the presentinvention that have resulted from attempting to attain theabove-mentioned object may not satisfy these objects and/or may satisfyother objects not specifically recited herein.

Additional and/or alternative features, aspects, and advantages ofembodiments of the present invention will become apparent from thefollowing description, the accompanying drawings, and the appendedclaims.

BRIEF DESCRIPTION OF THE DRAWINGS

The patent or application file contains at least one drawing executed incolor. Copies of this patent or patent application publication withcolor drawing(s) will be provided by the Office upon request and paymentof the necessary fee.

For a better understanding of the present invention, as well as otheraspects and further features thereof, reference is made to the followingdescription which is to be used in conjunction with the accompanyingdrawings, where:

FIG. 1A is a perspective view, taken from a front, top and left side, ofan automated cell processing system (ACPS) in accordance with animplementation of the present technology;

FIG. 1B is a front elevation view of the ACPS of FIG. 1A;

FIG. 1C is a top plan view of the ACPS of FIG. 1A;

FIG. 2 is a schematic illustration of the ACPS of FIG. 1A;

FIG. 3A is a perspective view, taken from a front and right side, of aportion of the ACPS of FIG. 1A with an isolator, a biological safetycabinet and a control unit removed for clarity;

FIG. 3B is a perspective view, taken from a front and right side, of theportion of the ACPS of FIG. 3A, with the top wall and side walls of theenclosure being removed for clarity;

FIG. 3C is a perspective view, taken from a front and right side, of thebottom wall of the enclosure and the table of FIG. 3A shown inisolation;

FIG. 4 is a top plan view of components housed within the enclosure, thebottom wall of the enclosure and the isolator of FIG. 3A;

FIG. 5 is a close up perspective view, taken from a front and rightside, of some of the components housed within the enclosure of FIG. 4;

FIG. 6 is a perspective view, taken from a front and right side, of aleft rack of a storage area of FIG. 5;

FIG. 7 is a perspective view, taken from a front and right side, of aright rack of a storage area of FIG. 5;

FIG. 8A is a perspective view, taken from a front and right side, of acenter portion of a storage area of FIG. 5;

FIG. 8B is a close up perspective view, taken from a front, top and leftside, of one of the transfer trays of the center portion of the storagearea of FIG. 8B;

FIG. 9 is a top plan view of a deck housed within the enclosure of FIG.3A;

FIG. 10A is a perspective view, taken from a front, top and left side,of a portion of the deck 910 of FIG. 9 showing a media fill station anda magnetic tilt module;

FIG. 10AB is a close-up perspective view, taken from a front, top andleft side, of the magnetic tilt module of FIG. 10A;

FIG. 10C is a perspective view of another implementation of a media fillstation with a dispensing tip in a load position;

FIG. 10D is a perspective view of the media fill station of FIG. 10Cwith the dispensing tip in a fill position;

FIG. 11A is a perspective view, taken from a rear, top and left side, ofa portion of the deck 910 of FIG. 9 showing a tilt module for cellprocessing trays, a media fill station, transport container tilt module,and a transport holder adaptor station;

FIG. 11B is a close-up exploded perspective view, taken from a front andright side, of the transport container tilt module;

FIG. 11C is a close-up perspective view, taken from a front and rightside, of the transport container tilt module shown in an untiltedposition;

FIG. 11D is a close-up perspective view, taken from a front and rightside, of the transport container tilt module shown in an untiltedposition;

FIG. 12 is a perspective view, taken from a left, rear and top, of aportion of the ACPS of FIG. 3A with the upper wall and side walls of theenclosure being removed for clarity and showing the waste receptacle;

FIG. 13 is a perspective view, taken from a front and top of an examplerobotic arm of a robotic module of the ACPS of FIG. 3A having a roboticaspirator/gripper;

FIG. 14 is a front plan view of the example robotic aspirator/gripper ofFIG. 14 holding a tube;

FIG. 15 is a front plan view of the example robotic arm of FIG. 14having an aspirator tip attached thereto;

FIG. 16 is a perspective view, taken from a front, top and left side, ofanother robotic arm having a decapper and shown decapping a reagentcontainer;

FIG. 17 is a perspective view, taken from a front, top and right side afirst ACPS connected to a second ACPS;

FIG. 18 is a schematic view of the control unit of the ACPS 100 forexecuting a method in accordance with an implementation of the presenttechnology;

FIG. 19 is a schematic illustration of an example robotic module of theACPS of FIG. 4;

FIG. 20A is a perspective view, taken from a rear, top and right sideof, a flask used in the ACPS of FIG. 3A;

FIG. 20B is a right side elevation view of the flask of FIG. 20A placedon a tilt module with the tilt module disposed in an untilted position;

FIG. 20C is a front elevation view of the multilayer flask andmultilayer flask tilt module of FIG. 20B with the tilt module beingdisposed in a tilt position with the multilayer flask being tilted abouta longitudinal tilt axis;

FIG. 20D is a right side elevation view of the flask of FIG. 20A placedon the multilayer flask tilt module of FIG. 20B with the multilayerflask tilt module being tilted about a lateral tilt axis;

FIG. 21 is a top plan view of another implementation of a deck housedwithin the enclosure of FIG. 3A;

FIG. 22 is a close-up perspective view, taken from a bottom, front andright side of two air outlets of the enclosure of FIG. 3A along with thecorresponding automated gates for selectively closing the air outlets;

FIG. 23 is a close-up perspective view, taken from a bottom, front andright side, of one of the air outlets and corresponding gate of FIG. 22with the gate being shown in a position where the air outlet is fullyclosed;

FIG. 24 is a close-up perspective view, taken from a bottom, front andright side, of the air outlet and gate of FIG. 23 with the gate beingshown in a position where the air outlet is fully open;

FIG. 25 is a rear elevation view of a portion of the ACPS of FIG. 3Ashowing another implementation of a waste receptacle and waste chutes;

FIG. 26 is a perspective view, taken from a top, front and left side, ofthe waste receptacle of FIG. 25 shown in isolation;

FIG. 27 is a cross-sectional view, taken along a plane extendingvertically and laterally through the ACPS and the waste receptacle andwaste chutes of FIG. 25; and

FIG. 28 is a schematic illustration of the automated method 2000 forcell processing. FIG. 29A is a close-up perspective view of a transporttray according to some implementations;

FIG. 29B is a close-up perspective view of a cell processing trayaccording to some implementations;

FIG. 29C is a close-up perspective view of a storage tube according tosome implementations;

FIG. 29D is a close-up perspective view of a centrifuge tube accordingto some implementations;

FIG. 30A is a perspective view, taken from a front, top and right side,of a holder for the storage tubes of FIG. 29C showing one of the storagetubes in the holder being gripped by the robotic aspirator/gripper ofFIG. 14; and

FIG. 30B is a perspective view, taken from a front, bottom and rightside of the holder of FIG. 30A;

FIG. 31A is a top plan view of another implementation of a cellprocessing tray;

FIG. 31B is a front elevation view of the cell processing tray of FIG.31A;

FIG. 31C is a side elevation view of the cell processing tray of FIG.31A; and

FIG. 31D is a cross-sectional view of the cell processing tray of FIG.31A, taken along the line 31D.

DETAILED DESCRIPTION

There are described herein methods and systems that can be used fortransforming a cell of a first type, such as a somatic cell, a stemcell, or a progenitor cell, to a cell of a desired second type, such asa pluripotent, multipotent, or unipotent cell. The described methods andsystems are provided in order to illustrate certain implementations ofthe methods and systems. It should be expressly understood that otherimplementations are possible. In particular, it should be understoodthat methods and systems can be used for a wide variety of biologicalsample processing, including generation of biomaterials (e.g., tissues,matrices, etc.), generation of biologics (e.g., proteins, antibodies,growth factors, etc.), growth of cells and cell lines, in addition tocell transformation and cell reprogramming.

With reference to FIGS. 1A to 2, an automated cell processing system(ACPS) 100 for an automated method of cell processing includes anenclosure 110. The enclosure 110 is connected to an isolator 120 and viathe isolator 120 to a biological safety cabinet (BSC) 130.

The ACPS 100 also includes various equipment such as refrigerators,incubators, freezers and the like some of which are disposed inside theenclosure 110, the isolator 120, or the BSC 130, and some of which aredisposed outside the enclosure 110, the isolator 120, and/or the BSC130, so as to be accessible from within the enclosure 110, the isolator120, and/or the BSC 130.

The ACPS 100 includes a control unit 1000 configured to control theautomated cell processing as will be described in further detail below.

Enclosure

With reference to FIGS. 1A to 3A, the enclosure 110 is a rectangularchamber constructed of four side walls 202, 204, 206, 208, an upper wall210, and a bottom wall 212. The side walls include a front wall 202, arear wall 204, a left side wall 206 and a right side wall 208. Termssuch as left, right, front and rear are defined herein as would beunderstood by a person standing on the bottom wall 212 within theenclosure 110 and facing forwardly towards the isolator 120. The wallsare made of metal but it is contemplated that the walls could be made ofany suitable material.

The front wall 202 has an isolator connection port 220 which connects toa complementary port 240 of the isolator 120. The isolator connectionport 220 is rectangular in shape but it is contemplated that theisolator connection port 220 could be other than rectangular. Theisolator connection port 220 is normally closed by a gate (not shown)and opened only to allow transfer objects between the enclosure 110 andthe isolator 120. The enclosure 110 is thus in selective fluidconnection with the isolator 120.

Eight air inlets 222 are defined in the upper wall 210 of the enclosure.Each air inlet 22 has a HEPA (High Efficiency Particulate Air) or ULPA(Ultra Low Particulate Air) filter (not shown). An air flow system whichincludes impellers mounted inside the enclosure 110 pushes air into theenclosure 110 through the HEPA filter provided in the air inlet port 222and maintains circulation of air through the enclosure 110. It iscontemplated that there could be more than one air inlet 222. It iscontemplated that other appropriate air filter, such as an ULPA (UltraLow Penetration Air) filter, could also be used in place of the HEPA airfilter.

Two air outlets 224 are formed in the bottom wall 212. Additional airoutlets 225 (FIG. 3A) are also provided near the bottom of the frontwall 202 and the bottom of the rear wall 204. It is contemplated thenumber and configuration of the air outlets 224 could be different thanas shown. In some implementations, airflow in the enclosure 110 islaminar. In some implementations the laminar airflow can be used todivide the space within the enclosure 110 into a plurality of portions.The portions inside the enclosure 110 created by the laminar flow couldbe used to process different batches, as will be described below infurther detail, without increasing risk of cross contamination betweenthe batches. The enclosure 110 is maintained at a positive air pressurerelative to the ambient pressure in the room housing the automated cellprocessing system 100, and relative to the isolator 120. Rapid airexchange in the enclosure 110 helps to remove any contaminant particlesthat may have entered the enclosure 110 and thereby reduces theprobability of exposure of objects housed inside the enclosure 110 tothe contaminants that enter the enclosure 110.

The air outlets 224 along the floor 224 are closeable (for example,during sterilization of the enclosure 110) by automated gates 250. Theair outlets 225 formed defined in the front and rear walls 202, 204 arealso closeable (for example, during sterilization of the enclosure 110).All of the outlets 224 formed in the bottom wall 212 are generallysimilar and as such, one of the outlets 224 and the automated gate 250covering the outlet 224 will now be described. With reference to FIGS.22 to 24, the outlet 224 is covered with a mesh screen 251 which is madeof stainless steel in the illustrated implementation. It is contemplatedthat the screen 251 could be made of any suitable material. The screen251 ensures and prevents objects from outside the enclosure 110 fromentering the inside of the enclosure 110, or objects inside theenclosure 110 from falling through the outlet 224. The gate 250 isslidably mounted to a pair of flanges 252 mounted on opposite sides ofthe outlet 224. The flanges 252 are generally mirror images, each havinga groove 253 facing the groove 253 of the opposite flange 252. Theopposing grooves 253 extend parallel to the bottom wall 212 except atthe end where each groove 253 forms a ramp 255 bending towards thebottom wall 212. The gate 250 has two guiding elements 254 connectedalong each side, one at each end of the side of the gate 250. Eachguiding element 254 is shaped and sized to be received in the groove 253and slide or roll therein. The guiding elements 254 move along thegrooves 253 to guide the gate 250 between a closed position where theoutlet 224 is sealed and an open position. In the closed position, oneof the guiding elements 254 on each side is received in the ramp 255bending towards the bottom wall 212. The ramp 255 pushes the gate 250towards the bottom wall 212 to ensure sealing between the gate 250 andthe bottom wall 212. In the open position, the guiding elements 254 aredisposed in groove 253 outside the groove end 255. An electricalactuator 256 is connected to the gate 250 for moving the gate 250 so asto slide or roll the guiding elements 254 along the correspondinggrooves 253. The actuator 256 is connected to the control unit 1000 forcontrolling the opening and closing of the air outlets 224. In theillustrated implementation, the actuator 256 is controlled to move thegate 250 between a position where the air outlet 224 is fully open or aposition where the air outlet 224 is fully closed. It is contemplatedthat the gate 250 could be controlled to maintain the gate 250 in aposition where the outlet 224 is partially open.

A sterilant inlet 230 is defined in the left side wall 206 forintroducing sterilant into the enclosure 110 for sterilization of thespace inside the enclosure 110. The sterilant inlet 230 is configuredfor attachment of a fluid conduit to receive sterilant (in gas or vapourform in the illustrated implementation) and to deliver the receivedsterilant into the interior of the enclosure 110 as a sterilant vapormist or spray. The sterilant air inlet 230 has a cover to prevent entryof foreign particles when not in use.

A sterilant outlet 232 is also defined in the front wall 202 forremoving air and sterilant from the enclosure 110. The sterilant outlet232 is configured for attachment of a fluid conduit leading to a pumpfor removing sterilant vapour, gas or air from the enclosure 110.

A catalytic converter inlet 231 is defined in the left side wall 206 forintroducing air into the enclosure for recirculating air through acatalytic converter to convert the sterilant vapor to harmless andbiodegradable water vapor and oxygen at the end of a sterilizationprocedure. The catalytic converter inlet 231 is configured forattachment of a fluid conduit and has a cover to prevent entry offoreign particles when not in use.

A catalytic converter outlet 233 is also defined in the left side wall206 above the HEPA or ULPA filters and configured for removing air fromthe enclosure through these HEPA and ULPA filters and through acatalytic converter in order to more rapidly neutralize the vapoursterilant otherwise lodged into the extensive surface area of the HEPAor ULPA filters. The catalytic converter outlet 233 is configured forattachment of a fluid conduit leading to a catalytic converter and apump for removing air and sterilant vapour from the enclosure 110.

It is contemplated that the sterilant inlet and outlet 230, 232 couldeach be defined in a location other than that shown herein, andconfigured differently than as shown herein. It is contemplated that thecatalytic converter inlet and outlet 231, 233 could each be defined in alocation other than that shown herein, and configured differently thanas shown herein.

The sterilant inlet and outlet 230, 232 are connected to an automatedenclosure sterilization unit 550 for decontamination of the interior ofthe enclosure 110. The automated enclosure sterilization unit 550 willbe described below in further detail.

Various access ports are provided in the walls of the enclosure 110. Inthe bottom wall 212, as can be seen best in FIG. 3C, the enclosure 110has access ports 170, 172, 174, 176, 178 for accessing various processequipment such as a centrifuge 150, a freezer 152, an incubator 154, anda waste receptacle 156. The bottom wall 212 also defines recesses 171and 175 in which a robotic module 600 and a cryofreezer 460 are mountedrespectively. It is contemplated that one or both of the recesses 171,175 could be omitted or that other recesses could be formed for mountingof other components. An access port defined in the left side wall 206 isclosed by a side panel 184.

It should also be understood that the number, shape, size, position andconfiguration of the ports of the enclosure 110 could be other than thatshown herein. It should also be understood that the number, shape, size,position and configuration of the inlets and outlets (such as for air,sterilant and the like) of the enclosure 110 could be other than thatshown herein.

The enclosure 110 generally remains sealed except for transferringobjects (samples, reagent containers, containers for samples, otherlabware, and the like) between the enclosure 110 and the isolator 120,or other process equipment, such as incubators, centrifuges, freezers,storage cabinets and the like that may be connected to the enclosure 110for the automated processing of cells. The connection between theenclosure 110 and these other process equipment is a sealed connection,and the enclosure 110 is maintained at a positive pressure relative tothe interior of the process equipment to reduce entry of contaminantparticles from the process equipment into the enclosure 110.

The enclosure 110 is generally considered a sterile/aseptic environmentand maintained as a class 10 cleanroom (having fewer than 10 particlesof a size greater than or equal to 0.5 microns per cubic square foot) inorder to conform with good manufacturing practice (GMP) guidelines. Theterms “sterile” and “aseptic” are used interchangeably herein to meanmicrobially sterile, i.e., not contaminated by microorganisms such asendotoxin, mycoplasma, bacteria, etc., or by other infectious agentssuch as viruses. Thus it should be understood that the enclosure 110 isdesigned to be aseptic and microbial-free and this is determined byassays and processes in the system that test and measure for microbialcontamination, such as endotoxin, mycoplasma, and direct microbialdetection assays, to ensure that samples/batches are not contaminated.

The term “good manufacturing practice (GMP)” is used to refer toregulations for medicinal products established by government regulatorybodies such as the U.S. Food and Drug Administration (FDA) and theEuropean Medicines Agency (EMEA) to ensure safety and efficacy ofproducts for clinical use. As used herein, the term “under GMPconditions” means under conditions that meet Good ManufacturingPractices (GMP) guidelines or regulations, i.e., so that the end productcan be released for clinical use. It is noted that GMP regulations andrecommended guidelines may vary nationally but in general require strictcontrol in GMP production facilities for the manufacturing ofpharmaceutical or cellular products, including quality control andquality assurance programs. Such facilities typically require “cleanrooms”, which are classified in four classes (AD) depending on airpurity, based on the number of particles of two sizes (≥0.5 μm, ≥5 μm),or are in accordance with Clinical Laboratory Improvement Amendments(CLIA) regulations; other parameters such as temperature, humidity, andpressure are often taken into account and monitored because of theirpotential impact on particle generation and microorganism proliferation;materials and staff flows are separated and unidirectional to minimizecross contamination; documentation of all activities is necessary; andso on. GMP regulations for cell therapy products generally include atleast some of the following: demonstration of preclinical safety andefficacy; no risk for donors of transmission of infectious or geneticdiseases; no risk for recipients of contamination or other adverseeffects of cells or sample processing; specific and detaileddetermination of the type of cells forming the product and what aretheir exact purity and potency; and in vivo safety and efficacy of theproduct.

As can be seen best in FIG. 3C, the enclosure 110 is supported on arectangular frame 140 having an upper portion 142 formed by upperhorizontal frame members and a lower portion 144 formed by lowerhorizontal frame members. The frame 140 includes vertical frame members143 extending between the upper and lower horizontal frame members 142,144. The lower portion 144 is supported on wheels to facilitaterepositioning of the frame 140 but it is contemplated that the wheelscould be omitted. The lower portion 144 supports other components of theACPS 100 as will be described below. In some implementations, such asthat shown in FIGS. 1A to 1C, upper portion 142 is supported on thefloor by the vertical frame members 143 with the lower portion 144 andthe wheels being omitted.

The centrifuge 150, the incubator 152, freezer 154, and the wastereceptacle 156 are supported on the lower portion 144. The centrifuge150 has an access port on its upper portion, and is supported on thelower portion 144 such that the access port (not labeled) of thecentrifuge 150 is aligned with the corresponding centrifuge access port170 of the lower bottom wall 212. The space inside the centrifuge 150 isthus accessible from inside the enclosure 110 via the aligned accessports in the bottom wall 212 of the enclosure 110 and the upper portionof the centrifuge 150. Similarly, each of the incubator 152, freezer154, and the waste receptacle 156 has an access port defined in theirrespective upper walls. The incubators 152, freezer 154, and the wastereceptacle 156 are each supported on the lower portion 144 so as toalign their respective access ports with the corresponding access portof the bottom wall 212 of the enclosure 110. It is contemplated that thelower portion 144 could be omitted and one or more of the centrifuge150, the incubators 152, freezer 154, and the waste receptacle 156 couldbe placed on the room floor below the upper portion 142 supporting theenclosure 110. It is also contemplated that the one or more of thecentrifuge 150, the incubator 152, freezer 154, and the waste receptacle156 could be connected to a wall of the enclosure 110 other than thebottom wall 212. For example, the side walls of the enclosure 110 couldhave access ports (such as the access port covered by side panel 184)for connecting to one or more of the centrifuge 150, the incubator 152,freezer 154, and the waste receptacle 156.

A panel 226 mounted on the wall of the BSC 130 includes a display forpressure and other environmental characteristics of the enclosure 110and manual override switches for various elements inside the enclosure110 such as a light switch, impellers associated with air inlets 222,other mixing fans used during sterilization of the enclosure 110, andthe like, which are controlled automatically by the control unit 1000during routine operation of the ACPS 100.

The enclosure 110 houses various components of the ACPS 100 as will bedescribed below.

Isolator

With reference to FIGS. 1A to 2, the isolator 120 is disposed in frontof the front side wall 202 of the enclosure 110. The isolator 120 is agenerally rectangular chamber defined by four side walls, an upper walland a lower wall. The rear side wall has an enclosure access port 240connected to the isolator access port 220 of the enclosure 110. A gasket(not shown) is installed around the enclosure access port 240 forforming a sealed connection between the isolator 120 and the enclosure110. The enclosure access port 220 and the isolator access port 220 areselectively covered by a gate that is opened for passing objects (suchas chemical supplies, lab ware, tissue samples, and the like) betweenthe isolator 120 and the enclosure 110. The gate is an automated gatethat is connected to the control unit 1000 for controlling the openingand closing of the ports 220, 240 connecting the isolator 120 to theenclosure 110.

The front wall of the isolator 120 is in the form of a hinged window 243(hingedly connected at the upper edge in the illustrated implementation)and can be opened to access the interior space of the isolator 120 forcleaning and maintenance, for example. In the illustratedimplementation, the front wall 243 is made of tempered glass but itcould be made of any suitable material. It is contemplated that thefront wall could be fixed and not openable for access to the interior.Four glove ports 242 (the gloves being removed in the figures forclarity) are provided in the front wall 243 to allow a human user tomanipulate objects placed inside the isolator 120 while maintaining theenvironmental isolation and sterility of the interior of the isolator120. In the illustrated implementation, the passage of objects betweenthe isolator 120 and the enclosure 110 occurs via the automated transfertrays 322 (FIG. 3B). When the transfer tray 322 is extended into theisolator 120 through the ports 220, 240, a human operator using theglove ports 242 moves objects between the transfer tray 322 and theisolator 120. It is contemplated that a robotic module could be providedin the isolator for moving objects between the transfer tray 322 and theisolator 120 and/or the BSC 130. It is also contemplated that thetransfer trays 322 could be manually actuated instead of or in additionto being electrically actuated. It is also contemplated that the passageof objects between the isolator 120 and the enclosure 110 could beperformed fully manually, i.e. by a human operator using the glove ports242 to transfer objects through the ports 220, 240 with or without theuse transfer trays 322.

A BSC connection port 244 is defined in the right side wall of theisolator 120 for connection to the BSC 130. A sealed door (not shown)extending across the port 244 can be opened to allow passage of objectsbetween the BSC 130 and the isolator 120. An interlock mechanism isprovided to ensure that the enclosure access port 240 is closed when theBSC connection port 244 is open and vice versa.

The isolator 120 has two air inlets 246 provided with a HEPA air filterand an air outlet 248 for maintaining circulation of HEPA filtered airthrough the isolator 120. A sterilant outlet 234 is also provided topwall of the isolator for removing air and sterilant from the isolator120. The isolator 120 can thus be sterilized via a sterilization unit(for example the sterilization unit 550) connected to the enclosure 110by keeping the enclosure connection port 240 open during sterilizationof the enclosure 110. The sterilant outlet 234 is configured forattachment of a fluid conduit leading to a pump for removing sterilantvapour, gas or air from the isolator 120. Impeller fans (not shown) arealso provided in the isolator 120 to maintain optimal circulation of airand/or sterilant through the isolator 120. The isolator 120 ismaintained at a positive air pressure relative to the BSC 130 and at anegative pressure relative to the enclosure 110 so that air flows out ofthe enclosure 110 into the isolator 120 when the connection ports 220,240 are open, thereby reducing the possibility of contamination dueparticles entering the enclosure 110 from outside. It is contemplatedthe number and configuration of the air inlets and outlets 246, 248could be different than as shown herein. The isolator has an access port245 (shown schematically in FIG. 2) on the right side wall forconnection to a refrigerator 160 for storing reagent and other mediacontainers.

The isolator 120 is used to transfer samples and other objects fromlarger containers to smaller containers before passing into theenclosure 110. In some implementations, the outer protective packagingof objects may be removed in the isolator 120 before passing into theenclosure 110. In some implementations, the isolator 120 could house oneor more reagent containers.

In some implementations, the isolator 120 has an automated sterilizationsystem (such as the system 550 shown schematically in FIG. 2) forsterilizing the isolator 120, for example with hydrogen peroxide.

Biological Safety Cabinet (BSC)

With reference to FIGS. 1A to 2, the BSC 130, also in the form of agenerally rectangular chamber defined by four side walls, an upper walland a lower wall, is disposed on a right side of the isolator 120. TheBSC 130 has an isolator connection port 260 defined in its left sidewall and connected to the BSC connection port 244 of the isolator 120.An access port 262 in the front wall of the BSC 130 is used fortransferring objects into and out of the ACPS 100 by a human and/orrobotic operator. The access port 262 is covered by a sliding gate 263that is opened for transferring objects therethrough. In the illustratedimplementation, the sliding gate 263 is made of tempered glass but itcould be made of any suitable material. An interlock mechanism isprovided to ensure that the isolator connection port 260 is closed whenthe access port 262 is open and vice versa. As shown schematically inFIG. 2, a transfer tray 132 mounted on rails 134 is used to transferobjects between the isolator 120 and the BSC 130. In the illustratedimplementation objects can be placed on the transfer tray 132 by a humanoperator and the transfer tray 132 could be actuated manually to movethe transfer tray 132 between the isolator 120 and the BSC 130. It ishowever contemplated that the transfer tray 132 could be electricallyactuated and that objects could be moved to/from the transfer tray 132robotically by a robotic arm provided in the BSC 130 and/or in theisolator 120.

The BSC 130 has an air inlet 266 covered with a HEPA air filter and anair outlet 268 for maintaining circulation of HEPA filtered air throughthe BSC 130. It is contemplated the number and configuration of the airinlets and outlets 266, 268 could be different than as shown herein.Impeller fans can be optionally provided in the BSC 130 to maintain aircirculation through the BSC 130. The BSC 130 is maintained at a positiveair pressure relative to the ambient air in the room housing the system100, and at a negative pressure relative to the isolator 120 so that airflows out of the isolator 120 into the BSC 130 when the connection ports244, 260 are open, thereby reducing the possibility of contamination dueparticles entering the enclosure 110 from outside. In the illustratedimplementation, the BSC 130 is maintained as a class 100 cleanroomenvironment (having fewer than 100 particles of a size greater than orequal to 0.5 microns per cubic square foot). It is however contemplatedthat the BSC 130 could be maintained at a higher or lower level ofcleanroom environment.

The BSC 130 is used to as a location to manually clean or sterilize theouter surface of objects (or the outer packaging of a container ofsterile objects) before passing the objects into the isolator 120, andthereby into the enclosure 130. After sterilizing the outer surface ofobjects placed inside the BSC 130, the sliding gate is closed to coverthe front access port 262. HEPA filtered air is then circulated throughthe BSC 130 for a predetermined amount of time to reduce the number ofparticles in the air before opening the isolator connection port 260 forpassing objects from the BSC into the isolator 120.

It is contemplated that the configuration of any of the enclosure 110,the isolator 120, and the BSC 130 and/or the connections therebetweencould be different than as shown herein. For example, the number,dimension, placement of the access ports in any one or more of theenclosure 110, the isolator 120, and the BSC 130 could be different. Itis also contemplated that one or both of the isolator 120 and the BSC130 could be omitted, for example if the enclosure 110 were placed in acleanroom. It is further contemplated that isolator 120 and BSC 130 canbe replaced by a robotic system that places sterile or aseptic materialson the tray 322 (or on another transport system) for introducing objectsto or retrieving objects from enclosure 110.

If all the connecting ports 220, 240, 244, 260, 262 connecting betweenthe enclosure 110 and the isolator 120, the isolator 120 and the BSC130, and the BSC 130 and the external environment are open, air flowsfrom the enclosure 110 to the isolator 120, from the isolator 120 to theBSC 130, and from the BSC to the room or external environment due to thepositive pressure in the enclosure 110 relative to the isolator 120, thepositive pressure in the isolator 120 relative to the BSC 130, thepositive pressure in the BSC 130 relative to the room or externalenvironment.

As mentioned above, in the ACPS 100, the enclosure 110 can accessvarious equipment needed for the cell processing.

In the illustrated implementation of the ACPS 100, the centrifuge 150 isa Hettich™ Rotanta robotic centrifuge which includes a robotic arminside the centrifuge for transferring objects into and out of thecentrifuge 150. The centrifuge 150 is normally sealed from the enclosure110 except for the sealed inner chamber of the centrifuge 150 being opento the space inside the enclosure 110 while samples are being loadedinto and unloaded therefrom. The inner chamber of the centrifuge 150 ismaintained at a slight negative pressure relative to the enclosure 110.The centrifuge 150 is installed under the deck 910 (described in furtherdetail below) so that particles generated by the centrifuge 150 do notenter the enclosure 110 when the access ports 170 therebetween are open.The centrifuge 150 may be associated with a barcode reader or otherdevice to verify and record the identity of containers entering andexiting the centrifuge 150 in order to track different steps during cellprocessing as desired for complying with GMP regulations. The controlunit 1000 is communicatively coupled to the centrifuge 150 for automatedcell processing.

In the illustrated implementation of the ACPS 100, the incubator 152 isa Liconic™ STR240 which includes a robotic arm inside the incubator fortransferring objects into and out of the incubator 152. The incubator152 is sealed from the enclosure 110 and maintained at a slight negativepressure relative to the enclosure 110 so that particles generated inthe incubator 152 do not enter the enclosure 110 when the access ports172 therebetween are open. In some implementations, the incubator 152 isconstructed in a way that prevents contamination (for example, includingfeatures such as a chamber fully constructed of copper alloy, HEPAfilters, a sterile water vapour generator instead of a water pan insideincubator, and the like). The incubator 152 is connected to an automatedincubator sterilization unit 552 for decontamination of the interior ofthe incubator 152. The automated incubator sterilization unit 552 isdisposed adjacent the incubator 152 and supported on the lower portion144 of the frame 140. The automated incubator sterilization unit 552will be described below in further detail. The incubator 152 can beindependently sterilized, for example using ClO₂ gas, while the cellsare in a secondary incubator or in the enclosure 110. The incubator 152also has a barcode reader to verify and record the identity ofcontainers entering and exiting the incubator 152 in order to trackdifferent steps during cell processing as desired for complying with GMPregulations. The control unit 1000 is communicatively coupled to theincubator 152 for automated cell processing and to the automatedincubator sterilization unit 552 for sterilization of the incubator 152.

In the illustrated implementation of the ACPS 100, the freezer 154 is aLiconic™ STR 44 which includes a lift 155 (FIG. 9) for transferringobjects into and out of the freezer 154. The freezer 154 also has abarcode reader to verify and record the identity of containers enteringand exiting the freezer 154 in order to track different steps duringcell processing as desired for complying with GMP regulations. Thecontrol unit 1000 is communicatively coupled to the freezer 154 forautomated cell processing. In the illustrated implementation, thefreezer 154 is provided with a double door (one door 270 of the doubledoors being shown in FIG. 3C) instead of one door closeable to seal theenclosure 110 from the freezer 154. The door 270 is an insulation doorfor providing additional insulation and is automatically closed duringsterilization of the enclosure 110 to prevent condensation of certainsterilants (hydrogen peroxide vapor, for example) around the freezerdoor which would be colder than the ambient temperature if the freezerdoor lacked the insulation door. The insulation door 270 is a slidabledoor mounted to the upper surface of the bottom wall 212 of theenclosure 110. The insulation door 270 is actuated by an electricactuator which connected to the control unit 1000 and thereby controlledby the control unit 1000 for closing of the insulation door 270 duringsterilization procedures.

The refrigerator 160 in the illustrated implementation of the ACPS 100is maintained at 4° C. and used to store reagent containers. Theinterior of the refrigerator 160 is accessible via the isolator 120through an access port in the right side of the isolator 120. Thereagent container is placed in the refrigerator 160 by a human operatorand connected to a media fill line which extends through the isolator120 to a media fill station 420 in the enclosure 110. It is contemplatedthat the refrigerator 160 could also be provided with a double doorincluding an insulation door similar to the freezer 154 described above.

In some implementations, the ACPS 100 includes a robotic cryostorageunit 162 (shown schematically in FIG. 2) for storing containers aftercell processing has been completed. In the illustrated implementation,the cryostorage unit 162 is an Askion™ C-line System cryostorage unit.The cryostorage unit 162 is connected to the enclosure 110 by a sealedconnection similar to that of the freezer 154 or centrifuge 150 asdescribed above. The cryostorage unit 162 could also have its ownrobotic system (including for example a robotic arm) to allowautomatically storing and retrieving of containers therefrom into theenclosure 110 without handling by a human operator.

Components of the ACPS Inside the Enclosure

With reference to FIGS. 2, 3A, 3B and 4, inside the enclosure 110, theACPS 100 has a storage area 300, a sample preparation and processingarea 400, a quality control area 500, a harvesting area 900 and roboticmodules 600, 700 and 800, 820.

In the illustrated implementation of the ACPS 100, the storage area 300is located proximate the front wall of the enclosure 110 rearward of theisolator connection port 220, and the robotic module 700 is disposedrearward of the storage area 300. In the illustrated implementation ofthe ACPS 100, the cell processing area 400 is located rearward of therobotic module 700, the robotic module 600 is disposed on a right sideof the cell processing area 400 proximate the right side wall of theenclosure 110, and the robotic modules 800, 820 are disposed above thecell processing area 400. In the illustrated implementation of the ACPS100, the harvesting area 900 is disposed on a left side of the cellprocessing area 400, and the quality control area 500 is disposed on aleft side of the harvesting area 900. In some implementations, thequality control area 500 is also disposed vertically higher than theharvesting area 900 and the cell processing area 400.

Generally, the storage area 300 includes a plurality of storage modules,the processing area 400 includes a plurality of cell processing modules,the harvesting area 900 includes one or more harvesting modules and thequality control area 500 includes one or more quality control modules.Some modules may perform functions related to one or more of cellprocessing, harvesting and quality control, and thus these modules couldbe considered to be more than one type of module, for example, a cellprocessing module and a harvesting module. For example, a particularprocessing station, such as a tilt module could also be used forharvesting as will be described below. Additionally, any one or more ofthe areas (storage area 300, processing area 400, quality control area500 and harvesting area 900) could be divided and located in physicallyseparated locations. In the illustrated implementation in FIG. 2, thesample preparation and processing areas are shown in the same location,however they could be located in physically separated locations.Similarly, any combination of the above mentioned areas could beoverlapping in the same location or could be located in physicallyseparated locations.

In the illustrated implementation of the ACPS 100, the robotic module700 accesses the storage area 300, the cell processing area 400, and thequality control area 500. In the illustrated implementation of the ACPS100, the robotic module 600 accesses the right portion of the cellprocessing area 400 and the centrifuge 150. It is however contemplatedthat the relative position of the various components, areas and moduleswithin the enclosure 110 could be different than as shown herein.

The ACPS 100 is configured for the robotic handling of various types ofcell processing containers 314 including trays, flasks, bottles, tubesand vials. Examples of trays include cell processing trays 344 such asOmni™ trays shown in FIG. 29B, cell processing trays 344′ shown in FIG.31A to 31D, transport trays 340 such as Petaka™ trays shown in FIG. 29A,and the like. Examples of tubes include centrifuge tubes 346 (forexample, Falcon™ tubes shown in FIG. 29D), storage tubes 884 (forexample, Micronic™ tubes as shown in FIG. 29C), and the like. Thestorage tubes 884 are also referred to herein as vials 884 or cryovials884 when used for storage and transport in cryogenic conditions.Examples of flasks include spinner flasks (not shown), multilayer flasks350 (Millipore™ Millicell HY 3-layer cell culture flask T-600) shown inFIG. 20A, and the like. Examples of cell processing bottles includeroller bottles (not shown) and the like. It should be understood thatthe above examples are not intended to be limiting and the term cellprocessing containers 314 as used herein could encompass any type ofcontainers which are known to be used for storing, treating, expandingand transporting batches. The ACPS 100 is also configured for therobotic handling of various types of reagent containers such as thereagent bottle 836 shown in FIG. 16.

As can be seen best in FIGS. 4 and 5, the storage area 300 includes aleft storage module 310, a central storage module 320, and a rightstorage module 330.

In the illustrated example stacking arrangement, the left storage module310 holds stacks of carriers 312 for containers used for processingcells as can be seen best in FIG. 6. The left storage module includes a9×3 array of carriers 312, each carrier 312 being capable of holdingeight cell processing trays 344, 344′ (FIG. 29B). The stackable carriers312 allow the multiple cell processing trays 344 to be moved and storedtogether. The ACPS 100 also provides for cell processing containers 314and reagent containers such as reagent bottles 836 to be stored at, orsubject to, temperatures below −100° C. to +100° C., and be kept in thedark if needed.

In the illustrated example stacking arrangement, the right storagemodule 330 is configured to hold labware for cell processing as can beseen best in FIG. 6. The right storage module 330 includes five shelves332 for storing labware with each shelf having five discrete positions334 or trays 334 for holding labware. The labware stored in the shelves332 of the right storage module 330 can be accessed (removed from shelfor placed thereon) in a random access manner. The vertical spacingbetween the consecutive shelves 332 of the right storage module 330 isnot uniform in order to provide storage for labware of differentheights.

In the example stacking arrangement seen best in FIGS. 4, 5, 8A and 8B,the central storage module 320 includes four transfer trays 322 mountedat one end of a telescoping guide rails 324. The transfer trays 322 areconfigured to support objects (cell processing trays, other labware,chemical reagent containers, and the like) on the upper surface of thetransfer tray 322. The transfer trays 322 are located just rearward ofthe isolator connection port 220 when in their “home” position, and canbe moved into the isolator 120 by extending the telescoping guide rails324. The transfer trays 322 can be loaded or unloaded in the isolator120. In the illustrated implementation, the transfer trays 322 aremanually pulled into the isolator 120 by a user extending their arm intothe glove port. The guide rail 324 could alternately be mechanicallyactuated by a cable and pulley system (not shown) to extend the guiderails 324 and thereby to move the transfer tray 322 forward andrearward. The outer end (end that extends in and out of the enclosure110) of each guide rail 324 is provided with a bracket 326 having anaperture to facilitate gripping of the outer end by a hook or by anotherimplement for pulling the guide rail out 324 and pushing the guide railin to the enclosure 110. The inner end of the guide rail 324 is disposedin front of a wall having a magnet 328 and a positive stop rail todetect when the guide rail 324 is retracted completely and the transfertray 322 is in its “home” position. A switch 329 (an adjustable positionsingle pole double throw in the illustrated implementation) connected tothe magnet is used to light a green LED 325 when the transfer tray 322is in its home position (guide rail 324 retracted completely), and tolight a red LED 327 when the transfer tray 322 is out of its homeposition (guide rail 324 extended or improperly seated). When disposedin the home position inside the enclosure 110, the transfer tray 322 canbe accessed by the robotic arm 705 of the robotic module 700.

In the illustrated implementation, the transfer trays 322 can beextended out into the isolator 120 by a distance of 400 mm from theirhome position in the enclosure 110. The transfer trays 322 are mountedso as to be disposed spaced apart from a neighboring transfer tray by adistance of 125 mm in order to provide sufficient clearance for agripper member of a robot arm to handle objects placed in the tray 322.

It should be understood that the storage area 300 could be configureddifferently and could include different kinds of storage modules thanthat shown herein.

The enclosure 110 includes a raised platform 910, referred tohereinafter as a deck 910. The sample preparation and processing area400 and the harvesting area 900 are generally provided on the deck 910.The deck 910 includes various sample preparation and processing modulesand harvesting modules which will now be described with reference toFIGS. 4 to 31D.

The deck 910 is constructed in a modular manner having thereon multiplestations with similar footprints. In the illustrated implementation, thestations are configured for objects having a footprint conforming to anSBS standard format. For example, some of the stations have a tray 404(FIGS. 9 to 11A) defining a slot for receiving objects having the SBSfootprint. The deck 910 also includes stations for objects that are notof SBS format. It is contemplated that some or all of the stations ofthe deck 910 could be configured for a different format, and/or thatdeck 910 could be configured differently than as shown herein.

A number of holders for different types of containers such as vials,tubes, reagent containers and the like are positioned at variousstations on the deck 910. As an example, a centrifuge tube stationincludes centrifuge tube holders 410 (FIGS. 4, 5 and 7) for centrifugetubes 346 (e.g., Falcon™ centrifuge tubes in the illustratedimplementation of the ACPS 100). In the illustrated implementation ofthe ACPS 100, the centrifuge tube stations with the centrifuge tubeholders 410 are located on the right side of the deck 910 near thecentrifuge access port 170. Each centrifuge tube holder 410 has a bodywith a plurality of receptacles with each receptacle being configured toreceive a centrifuge tube 346 therein. The base of the holder 410 isshaped to be complementary to a SBS format slot. The holder 410 isconfigured such that the spacing between neighboring receptacles islarge enough to allow clearance for the centrifuge tube 346 to behandled by a robotic arm having a tube gripper, for example, for placingthe centrifuge tube in the centrifuge 150. As further examples, withreference to FIG. 9, a pipette tip holder 418 holding pipette tips and avial holder 452 holding vials 884 (FIG. 14) are found at other stationsof the deck 910. Holders (for example, holders 418, 452) are alsoprovided with lids, for example the lid 419 for the pipette tip holder418 as can be seen in FIG. 7. As another example, as best seen in FIGS.9 and 16, the deck 910 includes a reagent container station having areagent container holder 416 for two reagent containers in the form ofbottles 836 and a reagent bottle cap holder 417 for holding two reagentcontainer caps 838 when the cap 838 is removed from the reagentcontainer 836.

The deck 910 includes several decapping modules configured to remove thecap from a container such as a centrifuge tube.

With reference to FIGS. 4 and 16B, in the illustrated implementation ofthe ACPS 100, four centrifuge tube decapping modules 412 are located ona left side of the centrifuge tube holders 410. In the illustratedimplementation, the centrifuge tube decapping module 412 is a Hamilton™STAR Liquid Handler Decapper Module. Each centrifuge tube decappingmodule 412 is configured to hold a centrifuge tube 346 and loosen thecap 366 of the centrifuge tube 346 before the cap 366 is completelyunscrewed by a robotic decapping gripper 830 (described below). Eachcentrifuge tube decapping module 412 has a body defining a generallycylindrical receptacle for receiving a centrifuge tube 346. Threegripper wheels extend into the receptacle to selectively engage the cap366 of a tube 346 disposed in the for loosening or tightening the cap366 of the centrifuge tube 346. Once loosened, the cap 366 of thecentrifuge tube 346 can be completely unscrewed and removed from thecentrifuge tube 346 by a decapping gripper (for example the decappinggripper 830 described below in further detail) that can grip and rotatethe cap 366 as well as move the cap 366 in the vertical direction(Z-direction) to separate the cap 366 from the centrifuge tube 346 heldin the decapping module 412. The decapping gripper 830 can also recapthe cap 366 on a centrifuge tube 346. In the illustrated implementation,the centrifuge tube decapping module 412 also includes a tube presencesensor at the bottom of the receptacle for detecting the presence of atube in the receptacle. The control unit 1000 is connected to the tubepresence sensor for controlling decapping operations of the centrifugetubes 346. It is contemplated that the decapping module 412 could beconfigured to hold and loosen the caps of tubes and containers otherthan centrifuge tubes 346. It is contemplated that the ACPS 100 couldinclude other types of decapping modules 412 from the one shown in here.

As mentioned above, the ACPS 100 also includes one or more robotic arms824 (FIG. 16) provided with decapping grippers 830 for decapping orrecapping (by respectively unscrewing and rescrewing) the caps 366 ofthe centrifuge 346 tubes, as well as other containers such as reagentbottles 836. In the illustrated implementation, the decapping grippers830 (described below in further detail) unscrew caps and covers from thecontainers as well as move the containers across the deck 910. In theillustrated implementation, each decapping gripper 830 is alsoassociated with a barcode scanner (not shown) for reading identificationlabels of containers such the centrifuge tubes 346 which are beingdecapped or recapped. The barcode scanner is connected to the controlunit 1000 for providing the scanned information thereto.

Another decapping module 414 (a Hamilton™ Labelite I.D. Decapper PartNo. 193608 in the illustrated implementation) is located on a left endof the deck 910 near the quality control area 500 for decapping andrecapping smaller vials such as the vials 884. The decapping module 414includes a barcode scanner at the bottom of the unit for readingbarcodes on the vials for tracking during cell processing. Withreference to FIGS. 30B and 29C, the vial holder 452 is configured forholding vials 884 during decapping and recapping of the vials 884 by thedecapping module 414. As can be seen in FIG. 30B, the holder 452 is madeof a two-piece construction including a top portion 940 forming ahousing with openings or receptacles for supporting an array of vials884 and a bottom portion 942 in the form of a sheet metal forming thebottom of the housing. It is contemplated that the holder 452 could beconstructed as a single piece. The bottom portion 942 has an array ofopenings 944, each opening 944 being configured to receive therethroughthe bottom portion of the vial 884 which can be tagged with a barcode.The barcodes for the vials 884 can thus be read without removing thevial 884 from the holder 452. In addition, the bottom portion 942 hasanti-rotation features in the form of notches that are complementary tothe projections 946 near the bottom of the tube 884 (FIG. 29C). Thenotches in the bottom portion 842 engage the projections 946 of the tube884 to prevent rotation of the tube 884 while the cap 948 is beingscrewed or unscrewed by the decapping module 414.

With reference to FIGS. 13 to 15, the ACPS 100 further includes a smalltube gripper 812 configured to pick up individual microtubes from, forexample, a microtube holder for an array of microtubes, and to move thepicked-up microtube across the deck 910.

The various holders for tubes, bottles, pipettes, plates, etc. arespecially designed to allow their manipulation (such as transport,decapping and capping) by universal gripping by several types of roboticarms. For example, some of the holders and containers (such as the vialholder 452 of FIG. 30A) are provided with an elongated notch 454 on twoopposing sides to facilitate gripping by a robotic arm. The notches 454help the robotic arm to lock onto the holder or container to preventslipping of the holder/container (for example the vial holder 452) fromthe robotic arm.

A number of the stations or holders are positioned in specific locationsto improve efficiency while performing various steps of cell processing.For example, two incubator transfer stations 153 (FIG. 4) for cellprocessing trays are located near the incubator 152 so that the roboticmodule 700 can drop-off one cell processing container 314 destined forthe incubator 152 and pick-up another cell processing container 314 inone pass. Similarly the robotic arm of the incubator 152 can drop-offone cell processing container 314 and pick-up another cell processingcontainer 314 in one pass back to the incubator 152 such that theincubator door selectively closing the port 172 is opened only onceinstead of twice. The robotic module 700 carries a first cell processingcontainer 314 towards the incubator 152 and places the first cellprocessing container 314 on a first incubator transfer station 153adjacent the incubator 152. An incubator robotic arm (not shown) insidethe incubator 152 moves a second cell processing container 314 from theinside of the incubator 152 to a second incubator transfer station 153adjacent the incubator 152 and retrieves the first cell processingcontainer 314 from the first incubator transfer station 153 to move itinside of the incubator 152. The robotic module 700 then carries thesecond cell processing container 314 from the second incubator transferstation 153 to a station on the deck 910. In the absence of twoincubator transfer stations 153, the first cell processing container 314would be moved from the deck 910 to the incubator transfer station 153(by the robotic module 700) and then from the incubator transfer station153 into the incubator 152 (by the incubator robotic arm) in a firstpass when the incubator door across the port 172 is opened a first time.A second pass with the incubator door across the port 172 being opened asecond time would be required where the second cell processing container314 would be moved from the incubator 152 to the incubator transferstation 153 (by the robotic arm) and then from the incubator transferstation 153 to the deck 910 (by the robotic module 700) in a second passwhen the incubator door across the port 172 is opened a second time. Inthe illustrated implementation, each incubator transfer station 153 isprovided with an incubator transfer station sensor for detecting when acontainer is positioned on the station. The control unit 1000 isconnected to the incubator transfer station sensor for controlling cellprocessing steps involving the incubator 152.

With reference to FIGS. 4 and 10A to 11D, the ACPS 100 includes severalmodules for adding liquid, for example, cell culture media and/or otherreagents, to cell processing containers 314.

With reference to FIGS. 4, 10A and 11A, several media fill stations 420are provided on the deck 910. In one implementation, the media fillstation 420 is connected via a media fill line to a media supplycontainer (not shown) placed inside the refrigerator 160. Media storedin the media supply container is pumped to the media fill station 420 bya pump connected to the media fill station 420 and/or the media supplycontainer. In some implementations, media can be heated in the mediafill lines connecting the media fill stations to the media supplycontainers. With reference to FIGS. 4, 10A and 11A, the media fillstation 420 includes a base 424 for supporting a cell processingcontainer 314 and a movable robotic arm 422 having a dispensing tip. Therobotic arm 422 is movable between a fill position where the dispensingtip is disposed over the base 424 for dispensing media into a cellprocessing container 314 placed on the base 424 to a load position (asseen in FIGS. 10A and 11A) where the dispensing tip is moved away fromthe base 424 to allow for loading and unloading of the cell processingcontainer 314 onto the base 424. In the loading position, the dispensingtip and the robotic arm 422 allow unobstructed loading and unloading ofthe cell processing container 314 from the base 424.

In some implementations, the media fill station 420 has a sensor 426 tosense the presence of a cell processing container 314 on the base 424,and/or to sense that the cell processing container 314 is positionedcorrectly on the base 424 before dispensing media into the cellprocessing container 314. In some implementations, the media fillstation 420 has a liquid level sensor for detecting the level of liquidin the cell processing container 314 positioned on the base 424 so as tostop dispensing liquid in the cell processing container 314 when theappropriate liquid level is reached.

With reference to FIGS. 10C and 10D, in another implementation, a mediafill station 420′ has a base 424′ with an overfill and spill protectionfeature as can be seen in FIG. 10C. A drain hole 428′ is defined in thecenter of the base 424′ with the surface of the base 424′ slopingdownwards from the edges of the base 424′ towards the drain hole 428′.The drain hole 428′ is connected to the waste receptacle 156 or 158 byfluid conduits. The dimensions of the base 424′ are slightly larger thanthe dimension of the cell processing container 314 for which the mediafill station 420 is configured so that any liquid spilling out of thecell processing container 314 fall into the base 424′ and is directed tothe drain hole 428′ by the sloping surface of the base 424′. From thedrain hole 428′, the liquid is then drawn away into the liquid wastereceptacle 158. The base 424′ may further include a lip around theperiphery to contain the liquid spilling out of the cell processingcontainer 314 within the base 424′. The dispensing tip 423′ can berotated by 90° between a load position (FIG. 10C) where the dispensingtip 423′ is moved away from the base 424′ to allow for loading andunloading of the cell processing container 314 onto the base 424′ to afill position (FIG. 10D) where the dispensing tip 423′ is disposed overthe base 424′ for dispensing media into a cell processing container 314placed on the base 424′.

In the illustrated implementation, the media fill stations 420, 420′ areconfigured for cell processing containers 314 in the form of cellprocessing trays 344, 344′ and flasks 350, but it is contemplated thatthe media fill stations 420, 420′ and/or the tilt modules 430, 430′, 440could be configured for containers 314 other than trays 344, 344′ andflasks 350 (for example, spinner flasks, roller bottles and the like).It is also contemplated that the media fill station 420 could beconfigured for filling of reagent bottles such as the reagent bottle836. The shape of the dispensing tip can also be configured for specifictypes of dispensing and spray patterns or for specific types of cellprocessing containers 314 or reagent bottles 836.

A media fill station 420 configured for filling of the reagent bottle836 allows the reagent bottle 836 to be refilled directly from a reagentsupply container stored outside the enclosure 110 without removal of thereagent bottle 836 from the enclosure 110. Reagent filled into thereagent bottle 836 can then be pipetted by a robotic pipettor 814 into acell processing container 314 as needed during cell processing, cellharvesting or cell preparation. Media fill stations 420 configured fordirect refilling of reagent bottles 836 from a reagent supply containerstored outside the enclosure 110 eliminate the need for transferringreagent bottles 836 to and from the enclosure 110 for refilling,discarding reagent bottles 836 into waste 156 and introducing newreagent bottles 836 into the enclosure 110, and also reduce the need forstoring in the enclosure 110 multiple reagent bottles 836 for the samereagent.

As will be described below with reference to FIG. 19, in the ACPS 100 ofthe illustrated implementation, one or more of the nine robotic arms 804of the robotic module 800 is configured to be a continuous flow reagentdispenser 818 which is directly connected, via a peristaltic pump, to areagent supply container stored inside or outside the enclosure 110, forexample in the isolator 120 or in the refrigerator 160 connectedthereto. The reagent dispenser 818 serves to dispense larger volumes offluid in a continuous manner without having to stop and refill thepipette tip with fluid to be dispensed. The reagent dispenser 818 cantherefore also be used to directly refill reagent bottles 836 from thereagent supply container stored outside the enclosure 110.

Media fill stations 420 and reagent dispensers 818 configured for directrefilling of reagent bottles 836 from a reagent supply container storedoutside the enclosure 110 eliminate the need for transferring reagentbottles 836 to and from the enclosure 110 for refilling and also reducethe need for storing in the enclosure 110 multiple reagent bottles 836for the same reagent.

It is contemplated that containers stored in the isolator 120 and/orrefrigerator 160 from which media is directly pumped to media fillstations 420 and/or other dispensers (such as robotic dispenser 818)could be provided with a liquid level sensor connected to the controlunit 1000 and configured for detecting liquid level in the container.For example, the liquid level sensor could be configured to detect whenthe liquid level is below a threshold level and to send a signal to thecontrol unit to alert the control unit 1000 for replacement of thecontainer. It is contemplated that these containers can also be storedin the enclosure 110.

With reference to FIGS. 10A, 10B and 11A to 11C, the ACPS 100 includesseveral tilt modules 430′, 440 and magnetic separation modules 430 forfacilitating effective removal of existing cell culture media from acell processing container 314. The tilt modules 430, 430′ and 440 alsoserve to hold the cell processing container 314 in a tilted position foradding or removing cell culture media or other solution (for example,trypsin) therein.

For example, FIGS. 11A to 11D show a tilt module 440 configured fortransport trays 340. The upper surface of the transport trays 340 have,near one corner, an aperture sealed by a rubber insert 342 (best seen inFIG. 29A) which has to be pierced at a particular angle to inject mediaor cell culture into the transport tray 340. The tilt module 440 tiltsthe transport tray 340 such that a tip moving in a vertical direction(normal to the horizontal bottom wall 212) of the enclosure 110 contactsthe transport tray 340 at the desired angle for piercing the insert 342.The tilting of the transport tray 340 enables efficient injection ofcell culture into the transport tray 340 without modification of therobotic modules which are configured to move in the vertical andhorizontal directions. The tilt module 440 includes a base 442, a pivotplate 444 pivotably connected to the base 442 and an adaptor 446 forretaining the transport tray 340 on the pivot plate 444 while thecontents of the transport tray 340 is being tilted and when a tipinserted through the insert 342 is removed. In the illustratedimplementation, the adaptor 446 is a generally rectangular frame shapedto extend along the periphery of the upper surface of the transport tray340 except near the insert 342 where the adaptor 446 skirts inwardlyaway from the periphery and the insert 342. It is contemplated that theadapter 446 could have a rectangular frame shaped that follows theentirety of the periphery of the upper surface. It is also contemplatedthat the adapter 446 could have a shape other than that shown herein.The adaptor 446 is placed on the upper surface of the transport tray 340positioned on the tilt module 440 before piercing the aperture 342 witha tip for injecting liquid into the transport tray 340. Once thetransport tray 340 has been filled, the tip is withdrawn from the insert342. The adaptor 446 is made of a suitable material so as to have asufficiently large weight to prevent the lifting of the transport tray340 during withdrawal of the tip from the aperture 342. The tilt module440 is communicatively coupled to the control unit 1000 for controllingthe pivoting of the pivot plate 444. In the illustrated implementation,the pivot plate 444 is configured to tilt by an angle of 30°. As can beseen in FIG. 11A, an adaptor station 450 for holding an adaptor 446 isdisposed adjacent the tilt module 440 for convenience and efficiency.The adaptor 446 is placed on the adaptor station 450 when not being usedon a transport tray 340 positioned on the tilt module 440.

With reference to FIGS. 10A and 10B, the ACPS 100 includes another tiltmodule in the form of a magnetic separation module 430. The magneticseparation module 430 includes a base 431 having a top plate 432pivotably connected to the base 431 and a magnetic plate 434 disposed onthe top plate 432. The base, 431, the top plate 432 and the magneticplate 434 are configured to support a cell processing container 314 onits upper surface. In the illustrated implantation, the base, 431, thetop plate 432 and the magnetic plate 434 are configured to support acell processing container 314 in the form of a cell processing tray 344,344′ but it is contemplated that the magnetic separation module 430could be configured for other types of cell processing containers 314,such as the flask 350 and transport container 340. The top plate 432 andthe magnetic plate 434, which are shown in a horizontally extendingposition in FIGS. 10A and 10B, can be tilted so as to be disposed at anangle with respect to the horizontal upper surface of the base 431. Inthe illustrated implementation, the top plate 432 is configured to tiltup to an angle of 10° with respect to a horizontal plane but it iscontemplated that the maximum tilt angle could be other than 10°.

The magnetic separation module 430 can be used for cell culturepurification or cell separation or selection, or magnetic trasnfection.As an example, an antibody having an iron or other magnetic core can beused on either the desired cells or the undesired cells. The antibodycan be selected for its ability to target either the desired cells orthe undesired cells. The selected antibody is added to a cell processingcontainer 314 containing the non-adherent cell culture (e.g., aftertrypsinization, or cell suspension culture) with the desired andundesired cells. When the cell processing container 314 is placed on themagnetic plate 434 of the magnetic tilt module 440, the cells taggedwith the magnetic cores remain fixed to the bottom of the cellprocessing container 314 while the untagged cells without the magneticcores remain in solution in the media. While the cell processingcontainer 314 is placed on the magnetic plate 434 preferably in thetilted position, the media containing the untagged cells without themagnetic cores is aspirated with a robotic aspirator 812 (FIG. 15) orwith a robotic pipettor 814 (FIG. 19) to remove the untagged cells fromthe cell processing container 314 while keeping the tagged cells taggedin the cell processing container 314. The tagged cells remaining in thecell processing container 314 could then be resuspended in new media (byadding new media to the cell processing container 314 using one of themedia fill stations 420) for further processing if desired, or discardedif the tagged cells are the undesired cells. Alternately, in the casewhere the untagged cells are the desired cells, the pipetted mediacontaining the untagged cells can be dispensed to another cellprocessing container 314 for further processing, etc. The ability totilt the cell processing container 314 while aspirating the media fromthe cell processing container 314 allows for more efficient and thoroughremoval of media containing the untagged cells from the cell processingcontainer 314, which allows for more efficient and thorough separationof tagged and untagged cells. The magnetic separation module 430 canalso be used for other purposes such as magnetic transfection ofadherent cells (e.g., Magnetofectamine™, Oz Biosciences), where e.g., aDNA plasmid in an iron core containing lipid is pulled down into thecell by the action of the magnet below.

The ACPS 100 of the illustrated implementation, also includes a tiltmodule 430′ (FIGS. 9 and 11A) which is similar to the magneticseparation module 430 described above except that the magnetic plate 434is omitted. The tilt module 430′ is used to hold a cell processingcontainer 314 in a tilted position during aspiration for efficientremoval of liquid therefrom.

The positioning of a media fill station 420 adjacent a tilt module 440,430′ and/or a magnetic separation module 430 facilitates addition offresh cell culture media and/or other reagents to the cell processingcontainer 314 after removal of existing cell culture media from the cellprocessing container 314. Similarly, a reagent container holder 416 withreagent bottles 836 can also be placed adjacent a tilt module 440 (asseen in FIG. 9) and/or a magnetic separation module 430 to facilitateaddition of fresh cell culture media and/or other reagents to the cellprocessing container 314 after removal of existing cell culture mediafrom the cell processing container 314.

With reference to FIGS. 31A to 31D, another implementation of a cellprocessing tray 344′ similar to the cell processing tray 344 (FIG. 29B)will now be described. The cell processing tray 344′ has a base 510 andfour walls 512, 514, 516, 518 extending upwards therefrom to define aninterior volume 520 for containing the batch being processed. The base510 is configured to have a SBS format footprint so that it can be usedon the SB format stations of the ACPS 100 such as the tilt modules 430,430′ and the like. Two opposing walls 512, 516 are longer than the othertwo opposing walls 514, 518.

A linear notch 454 defined on each side of the base 510 below thecorresponding wall 512, 514, 516, 518. The notches 454 allow the cellprocessing tray 344′ to be gripped more securely by a robotic grippersuch as the plate gripper 816. Opposing walls 512, 516 or 514, 518 ofthe cell processing tray 344′ are held between the two arms of thegripper 816 such that each gripper arm is in contact with one of theopposing walls 512, 516 or 514, 518 and each gripper arm engages thenotch 454 formed on the corresponding wall 512, 514, 516, 518 contactingthe gripper arm. The cell processing tray 344′ is thus held securelybetween the arms of the gripper 818 without risk of slippage. It iscontemplated that the cell processing tray 344′ could have a coversimilar to the cover of the cell processing tray 344 of FIG. 29B andthat each side wall of the cover could also have a notch similar to thenotch 454 to enable secure gripping of the cover by the robotic gripper816. It is also contemplated that the notch 454 could have a differentconfiguration that matches the same or a different configuration ofrobotic gripper 816. It is contemplated that the cell processing traywith notches 454 could also contain several independent wells eachhaving their own interior volumes, such as a 96-well plate.

The inner surface of the base 510 forming a floor 524 of the interiorvolume 520 is generally flat. The inner surfaces of the longer walls512, 516 are also linear and extend parallel to each other. The longerwalls 512, 516 have inner surfaces that extend perpendicular to the flatfloor 524. A longitudinal centerplane 526 can be defined extendingperpendicular to the floor 524 and equidistant between the innersurfaces of the walls 512, 156. A lateral centerplane 528 can be definedextending perpendicular to the longitudinal centerplane 526 and thefloor 524, and bisecting the inner surfaces of the walls 512, 516.

In the illustrated implementation, the inner surface of each of theshorter walls 514, 518 is formed as two angled sections. The walls 514,518 are mirror images of each other, as such, only the wall 514 will bedescribed herein.

The inner surface of the wall 514 has two portions 530, 532 extending onopposite sides of the longitudinal centerplane 526. The wall portion 530is not perpendicular to the inner surface of the wall 516 but angled at110° to the inner surface of the wall 516 when viewed from the top as inFIG. 31A. It is contemplated that the angle could be an obtuse angleother than 110°. The wall portion 530 is also not perpendicular to thefloor 524 but angled at an obtuse angle with respect thereto. It iscontemplated that the wall sections 530, 532 could be perpendicular tothe floor 524. The wall portion 532 is a mirror angle of the wallportion 530 and as such will not be described herein in detail. The wallportions 530, 532 intersect at the longitudinal centerplane to form aliquid collection region 534.

In the illustrated implementation, the wall 518, is a mirror image ofthe wall 514, having wall sections 530, 532 and a liquid collectionregion 534 defined near the intersection of the longitudinal centerplane526 and the wall section 530, 532.

When the cell processing container 344′ is placed on a tilt module, suchas the tilt module 430′, and tilted about a lateral tilt axis 536 (axisnormal to the longitudinal centerplane 526), one of the walls 514, 518is disposed lower that the other one of the walls 514, 518 causingliquid contents of the cell processing container to move towards thelower one of the walls 514, 518. The slope of the wall sections 530, 532with respect to the inner surfaces of the walls 512, 516 and withrespect to the floor 524 allows liquid content of the cell processingtray 244′ to collect in the liquid collections region 534 when tiltedabout a lateral tilt axis. The slope of the wall sections 530, 532 withrespect to floor 524 allows a pipette or aspirator tip easier access tothe liquid collection region 534. The liquid contents of the cellprocessing tray 344′ collected in the liquid collection region 534 canthen be efficiently aspirated therefrom using, for example, the roboticaspirator 812, or one of the robotic pipettors 814.

The cell processing tray 344′ is thus configured for improvingefficiency of liquid collection therefrom and more throrough removal ofliquid therefrom when placed on a tilt module such as the tilt modules430, 430′.

In the illustrated implementations, each of the shorter walls 514, 518forms a liquid collection region 534 but it is contemplated that only ofthe shorter walls 514, 518 could have a liquid collection region. It iscontemplated that the liquid collection region 534 could be formed byany one or more of the walls 512, 514, 516, 518.

The ACPS 100 is also configured to handle cell processing containers 314such as the flask 350 shown in FIGS. 20A to 20C. In the illustratedimplementation, the flask 350 is a multilayer flask 350 having threelayers but it is contemplated that the flask 350 could have one, two ormore than three layers. Multilayer flasks 350 provide a larger surfacearea for growth of cells with ready access to pipetting via the upwardlyfacing capped opening 352. The cap 352 covering the capped openingfacing vertically upwardly is convenient for decapping by any of thedecapping modules provided on the deck 910, such as the decapper 830.The ACPS includes a two-axis tilt module 370 for the multilayer flask350 in order to facilitate addition and movement of media into all thelayers of the multilayer flask, after addition of media by the 350 bythe robotic dispenser 818 or the robotic pipettor 814. The multilayerflask 350 defines a lateral axis 354 and a longitudinal axis 356. Thetwo-axis tilt module 370 tilts the flask 350 about a lateral pivot axis355 (FIG. 20B) parallel to the lateral axis 354 and about a longitudinalpivot axis 357 (FIG. 20C) parallel to the longitudinal axis 356 of themultilayer flask 350. The tilt module 370 includes a base 372 and alower platform 374 disposed on the base 370 (in an untilted position ofthe tilt module 370) and pivotally connected thereto. The lower platform374 is pivotably connected to the base 372 about the lateral pivot axis355 and is pivotable about the lateral pivot axis 355 by a telescopingarm mechanism 920 as can be seen in FIGS. 20B and 20D. The telescopingarm 920 could be actuated, for example, electrically or pneumatically.It is contemplated that the mechanism for pivoting the lower platform374 with respect to the base 372 could be other than as shown herein.The tilt module 370 includes an upper platform 376 disposed on the lowerplatform 374 (in an untilted position of the tilt module 370) andpivotally connected to the lower platform 374 about the longitudinalpivot axis 357. The upper platform 376 is pivotable about thelongitudinal pivot axis 357 by a telescoping arm mechanism 930 as can beseen in FIG. 20C. The telescoping arm 930 could be actuated, forexample, electrically or pneumatically. It is contemplated that themechanism for pivoting the upper platform 376 with respect to the lowerplatform 374 could be other than as shown herein. A pair of retainingarms 378 extend upwards from the upper platform 374 (in an untiltedposition of tilt module 370). The multilayer flask 350 can be positionedon the tilt module 370 so as to be received between the arms 378. Thearms 378 thereby retain the multilayer flask 350 on the tilt module 370while the multilayer flask 350 is being tilted about the lateral pivotaxis 355 and/or about the longitudinal pivot axis 357. The tilt module370 allows tilting of the multilayer flask 350 about one or both of thelateral and longitudinal pivot axes 355, 357. The tilt module 370 iscommunicatively connected to the control unit 1000 for controlling thetilting of the multilayer flask during cell processing 2300. The tiltmodule 370 is included as a station on the deck 910 in someimplementations of the ACPS 100.

The multilayer flask 350 has a heat-conductive surface to enable surfaceheating functionality for enzymatic release of adherent cells (forexample, when trypsin or Accutase is used). It is contemplated that theupper platform 376 and/or the arms 378 could have heating functionalityfor heating the flask 350.

As mentioned above, a liquid sterilization station 556 (FIG. 9) isprovided on the deck 910 for sterilization of individual objects,sterilization of the interior passages of aspirator and pipettor headsand tips, and for disposal of liquid waste. The liquid sterilizationstation 556 will be described below in further detail.

The ACPS 100 also includes a sterile filtration station 492 (FIG. 9)where materials are pushed through a sterile filter by air pressure orvacuum, for example for sterilization of reagents and media. In theillustrated implementation, the sterile filtration system 492 includesan air pressure sensor for sensing air pressure, the air pressure sensorbeing connected to the control unit 1000 for control by the control unit1000 of the filtration operations. In the illustrated implementation,the sterile filtration system 492 is a Hamilton™ ML Star CVS Station.

A pipette volume dispense self-calibration station 490 for autocalibration of is provided on the deck 910. The self calibration station490 is configured for calibration of a pipettors with respect to thevolume of fluid dispensed by the pipettor.

The ACPS 100 also provides on the deck 910 several components forheating and cooling containers such as tubes, vials, reagent containersand cell processing containers 314. The ACPS 100 includes differentstations and different modules for heating and cooling for differenttemperature ranges form −100° C. to +100° C. Examples of heating andcooling components include a heating and shaking module 494 (Hamilton™HHS 3.0 which is used for temperatures from ambient to +105° C.), aheating and cooling module 495 (Inheco™ CPAC Ultraflat HT 2-TEC whichoperates for temperatures from +4° C. to +110° C.), and the like. Insome implementations, such as that of FIG. 21, the ACPS 100 alsoincludes several chilling stations 496 for storing containers thereon attemperatures +4° C. Each of the heating and cooling components 494, 495,496 is provided with a temperature sensor connected to the control unit1000 for control by the control unit 1000 of the heating and coolingoperations.

The ACPS 100 includes some liquid storage tubes or bottles for storingheated or cooled liquids. The liquid storage tubes or bottles storingheated or cooled liquid are in temperature conducting holders (forexample, the reagent container holder 416) and are positioned on customracks that have a heated bottom plate and/or an on-board cooling stationfor respectively heating or cooling the tubes or bottles contained inthe bottle/tube/vial holders. For example, certain substances such asmedia are stored at +4° C. in media storage bottles placed on customracks having an on-board cooling station, while substances such asgrowth factors are stored at −20° C. in storage vials placed on customracks.

The ACPS 100 includes a cryofreezer 460 for freezing a batch of cells,for example, after processing and before shipping and/or storage. In theillustrated implementation of the ACPS 100, the freezer 460 is a Grant™EF600M Controlled Rate Freezer used for controlled freezing or heatingof cells and other substances and products, including reagents andassays, in various containers 314 including trays, plates, tubes and thelike. The freezer 460 is configured to hold small vials for freezing anddisposed at the left end of the deck 910. The freezing of cell cultureand/or other substances in the vials may be assisted by nucleationachieved by dipping a frozen tip (stored in the freezer module) into thecell solution in the vials at the right timepoint during the freezingprocess (e.g., at around −10° C.) depending on the cryopreservativesolution being used. The cryofreezer 460 is installed in the recess 175such that the majority of the cryofreezer 460 is disposed below the deck910. This positioning of the cryofreezer 460 reduces the amount ofcondensation created on the deck 910 by the presence of the cryofreezer460, and enables heat generated by the cryofreezer 460 to be dissipatedoutside the enclosure 110. The cryofreezer 460 includes a temperaturesensor which is connected to the control unit 1000 for control by thecontrol unit 1000 of the freezing or heating operations performed by thecryofreezer 460.

In some implementations, the ACPS 100 also includes on the deck 910, a−86° C. freezer in addition to, or instead of, the freezer 154.

Packaging Module

In some implementations, the ACPS 100 includes a packaging module 950(shown schematically in FIG. 2) for preparing the final processed cellculture product for storage and/or shipping and transport 2600. In theillustrated implementation, the packaging module 950 is disposed outsidethe enclosure 110 and connected thereto by an access port (now shown).The packaging module 950 receives containers 314 of processed cellculture, for example, transport trays 340 (e.g., Petaka™ cassettes inillustrated implementations) which have had processed cell cultureinjected therein during harvesting 2400 (described below in furtherdetail with reference to FIG. 28). The packaging module 950 isconfigured to place the transport trays 340 or cryovials 884 intocontainers or boxes appropriate for shipping along with temperatureappropriate cryogenic or preserving material (for example, liquidnitrogen for cryovials 884, or cold packs or 37° C. heat packs fortransport trays 340). The packaging module 950 includes holders forcryocontainers such as cryovials 884 in e.g. dry shippers, or fortransport trays 340 in insulated boxes. For example, the transport trays340 loaded with the final processed cell culture can be packaged fortransport in temperatures ranging from +0° C. to +37° C., e.g., at 0°C., at +4° C., at room temperature, or at +37° C. In someimplementations, the packaging module 950 may also be configured forlabeling of containers with appropriate identifying information, andoptionally process information, for the processed sample. In someimplementations, the packaging module 950 may also be configured foraddressing containers ready for shipment. In some implementations, thepackaging module 950 is in part included inside the enclosure 110 andcould include some of the harvesting modules. It is contemplated thatthe cryofreezer 460 could be a part of a packaging module 950. It isalso contemplated that a larger volume cryofreezer for storing the finalcell product in frozen cryovials could be a part of a packaging module950. It is also contemplated that a fridge, freezer or otherenvironmentally-controlled storage module for storing the final product(for example, antibodies, biologicals, proteins, and the like.) in vialsor other containers could be a part of a packaging module 950.

The deck 910 also includes various other components which are understoodby a worker skilled in the art and will not be described herein.

The quality control area 400 will now be described with reference toFIGS. 3B, 4 and 9. The quality control area 400 includes various qualitycontrol modules such as a flow cytometer 470, and an integratedmicroscope and plate reader module 472 for verifying the quality of theprocessed cells. Quality control modules are capable of quality controlcriteria such as verifying cell identity, cell purity, cell potency, andcell culture non-contamination (referred to as sterility in thisapplication), and the like, some or all of which are required forcompliance with GMP regulations. The configuration of the qualitycontrol modules may vary, for example two or more modules may beconfigured together in one unit or provided in separate units.

The flow cytometer 470 identifies and counts the number of cells of aparticular kind in a cell culture. The flow cytometer 470 is used tomeasure cell number, cell viability and other cell markers for identityand purity. The flow cytometer 470 can be used to analyze cellcharacteristics, such as the cell diameter and cell density, along withspecific cell marker expression, cell purity (ratio of the number ofdesired types of cells to the total number of cells and/or debris) andthe like. The flow cytometer 470 can be used for in-process controlanalysis of the cell culture during cell processing and/or at the end,after cell processing has been completed. The flow cytometer 470 can beconfigured to perform one or more types of analyses and a number ofreagent containers 471 are placed adjacent the flow cytometer 470 toenable the flow cytometer 470 to perform the analysis functions. Therobotic arm 705 of the robotic module 700 is configured to pick up acell processing container 314 from the deck 910 and place it on theplatform of the flow cytometer 470 for analysis and to handle thereagent containers 471 for adding reagent to the cell culture tray whenneeded for the analysis. In some implementations, the flow cytometer 470is used during cell processing to analyze progress of the celldevelopment and to use the data obtained from the flow cytometeranalysis to predict the time for next passaging and/or the time for endof the cell processing (i.e., to predict when the desired number ofcells will be obtained). The flow cytometer 470 is configured to read abar code, for example, the barcode on a cell processing container 314including identifying information for the particular sample(s) in thecell processing container 314. The flow cytometer 470 is connected tothe control unit 1000 to send the results of the analysis along withidentification information to the control unit 1000. In the illustratedimplementation of the ACPS 100, the flow cytometer 470 is a MiltenyiMACSQuant Analyzer 10 but it is contemplated that any suitable flowcytometer could be used.

In the illustrated implementation of the microscope and plate readermodule 472, the fluorescent microscope is used to perform assays such asread-out assays for cell confluency and read-out assays for identity(e.g., by using antibody markers) and potency (e.g., for neural stemcells this can be measurement of tri-differentiation potential andneurite outgrowth), karyotype analysis, and the like, while the platereader is used to perform assays for endotoxins, mycoplasma, proteinquantification, telomerase activity, growth factor releasequantification, and the like. In the illustrated implementation of themicroscope and plate reader module 472, the fluorescence microscope isused to measure cell confluency, analyze cell morphology, measure andanalyze cell growth and/or differentiation parameters, measure andanalyze expression of cell surface or other markers, and/or performkaryotype analysis. The fluorescent microscope could also be equippedwith a spectral camera for performing analyses such as karyotopeanalysis, and the like.

The microscope and plate reader 472 can be used for analysis of the cellculture during cell processing and/or at the end, after cell processinghas been completed. In the illustrated implementation of the ACPS 100,the module 472 is a Molecular Devices i3x Reader and fluorescentmicroscopy module but it is contemplated that any suitable plate readerand microscopy module could be used. It is contemplated that themicroscope could not be integrated with the plate reader as in themodule 472 shown herein, and the system could be provided with separatemicroscope and plate reader modules. The robotic arm 705 of the roboticmodule 700 is configured to pick up a cell processing container 314 fromthe deck 910 and place it on the platform of the module 472 foranalysis. The module 472 includes a sensor for detecting the presence ofthe cell processing container. The microscope and plate reader module472 also includes a bar code reader or the like, for example, to readthe barcode on a cell processing container 314 including identifyinginformation for the particular sample(s) in the cell processingcontainer 314. The microscope and plate reader module 472 is connectedto the control unit 1000 and configured to send the results of theanalysis along with identification information to the control unit 1000.In some implementations, the microscope and plate reader module 472 isused during cell processing to analyze progress of the cell development(e.g., by morphology and/or proliferation rate by confluency measures)and to use the data obtained from the analysis to predict the time fornext passaging and/or the time for completion of the cell processing(i.e., to predict when the desired number of cells will be obtained).

In some implementations, the ACPS 100 is provided with a PCR machine(not shown) for performing analyses such as gene integration,diagnostics (e.g., detection of gene mutations), and telomeraseactivity.

In some implementations, the ACPS 100 includes in the quality controlarea 500, a microbial detector for determining microbial sterility(presence or absence of microbial contaminants, e.g., bacteria, bacteriaspores, yeasts, molds, mold spores, etc.). An example of a microbialdetector that could be included in the ACPS 100 is a Scan RDI® microbialdetector manufactured by Biomérieux Industry™.

It is contemplated that quality control modules other than the flowcytometer 470, microscope and plater reader module 472, and PCR machinecould be included in the ACPS 100. Each quality control module isconnected to the control unit for sending the analytical resultsthereto. It is contemplated that one or more of the quality controlmodules shown herein (flow cytometer 470, microscope or plate readermodule 472) could be omitted.

Particle Counter

The ACPS 100 includes a particle counter 190 for counting the number ofparticles inside the enclosure 110. As mentioned above, in theillustrated implementation, the enclosure 110 is maintained as a class10 environment and is designed for performing cell processing inconformance with GMP guidelines. In the illustrated implementation, theparticle counter 190 is a Light House SOLAR 3350 but it is contemplatedthat any suitable particle counter 190 could be used. The particlecounter 190 is communicatively coupled to the control unit 1000 toenable the control unit 1000 to control the automated cell processingbased on the particle count data received from the particle counter 190.For example, in some implementations, when the particle count exceeds aparticular predetermined threshold, a cell processing container may notbe removed from the incubator 152, or may not be opened for executing aparticular step of the processing until the particle count is determinedto have decreased below the predetermined threshold. The particlecounter 190 reduces the risk of contamination and cross contaminationduring cell processing.

It is contemplated that the ACPS 100 may include one or more otherenvironment sensors such as thermometers, humidity sensors, and thelike.

Waste

With reference to FIGS. 2, 3A to 3C, and 12, the waste receptacle 156 isconnected to a pump 194 (shown schematically in FIG. 2) so as to bemaintained at negative pressure with respect to the enclosure 110. Thepump 194 continuously pushes air from the waste receptacle 156 through aport 192 (shown schematically in FIG. 2) fitted with a HEPA filter intothe room (or into the building HVAC return duct), thus preventingparticles from migrating from the waste receptacle 156 into theenclosure 110. The waste receptacle 156 is configured for disposal ofsolid waste. It is contemplated that solid waste as well as liquid wastein containers could be discarded in the waste receptacle 156.

The enclosure bottom wall 212 has two waste ports 176, 178 (FIG. 3C)fluidly connected to the waste receptacle 156. It is contemplated thatthere could be one or more than two waste ports connected to the wastereceptacle 156, or that there could be a plurality of waste receptacles156. The waste receptacle 156 also has the port 192 (shown schematicallyin FIG. 2) connected to the pump 194 (shown schematically in FIG. 2) formaintaining the waste receptacle 156 at a sufficient negative pressurerelative to the enclosure 110 to prevent any particles from migratingfrom the waste receptacle 156 into the enclosure 110.

In the illustrated implementation, the ACPS 100 includes a waste chute480 extending from the space inside the enclosure 110 through the wasteport 176 to a port 487 defined on the top of the waste receptacle 156and a waste chute 482 extending from the space inside the enclosure 110through the waste port 178 to a port 488 defined in the right side wallof the waste receptacle 156 as shown schematically in FIG. 12. In theillustrated implementation, the upper ends of the chutes 480, 482 areopen and disposed in the space inside the enclosure 110. In theimplementation of FIGS. 3A to 12, the upper portion of each chute 480,482 extends generally vertically and then each chute 480, 482 slantstowards the waste receptacle 156. The ends of the chutes 480, 482 and/orthe waste ports 176, 178 in the enclosure bottom wall 212 and/or theports 487, 488 of the waste receptacle 156 can be closed for removal andreplacement of the waste receptacle 156.

The openings of the waste chutes 480, 482 are disposed away from acenter of the deck 910 and away from most of the processing stations andreagent containers in order to reduce the risk of contamination. It iscontemplated that the upper ends of the chutes 480, 480 could benormally closed and opened only as needed for waste disposal. In theillustrated implementation, the upper ends of the chute 480 are disposedat a height above the enclosure bottom wall 212 and vertically higherthan the components on the deck 910 such as the media fill stations 420and the like. It is contemplated that the upper ends of the chutes 480,482 could be disposed lower than the components on the deck 910. Theslanting portion of the chute 480, 482 decreases the risk ofbacksplashing of contents dropped into the chute 480, 482. The negativepressure of the waste receptacle 156 with respect to the enclosure 110also aids in preventing backsplash of waste and migration of any wasteparticles into the processing area 400.

FIGS. 25 to 27 show another implementation of a waste receptacle 156′and waste chutes 480′ and 482′. The waste chutes 480′ and 482′ extendvertically downwards into the waste receptacle 156′ in contrast to thewaste chutes 480, 482 which slope downwards toward the waste receptacle156. The waste receptacle 156′ includes an inner container 484′ nestedinside an outer container 486′. The inner container 484′ is mounted on asliding platform 485′ inside the outer container 486′ so that the innercontainer 484′ can be easily emptied by sliding the inner container 484′out of the outer container 486′. The waste chute 480′ extends throughthe port 176 in the enclosure bottom wall 212 to the port 487′ definedin the upper portion of the outer container 486′. The waste chute 482′extends through the port 178 in the enclosure bottom wall 212 to theport 488′ defined in the upper portion of the outer container 486′. Theinner container 484′ has ports (not shown) which are aligned with theports 487′, 488′ and the chutes 480′, 482′ when the inner container 484′is fully inserted within the outer container 486′.

The waste chutes 480, 482, 480′, 482′ are configured to have across-sectional area that is generally large enough to prevent wastefrom contacting the walls of the chute as the waste travels through thechutes 480, 482, 480′, 482′ to the waste receptacle 156, 156′.

The ACPS 100 also includes a liquid waste receptacle 158 (shownschematically in FIG. 2). The liquid waste receptacle 158 is undervacuum and maintained at a negative pressure relative to the enclosure110 and the room in which the ACPS 100 is disposed. The liquid wastelines connecting from inside the enclosure 110 to the liquid wastereceptacle 158 can be automatically sterilized with ethanol and bleachby the system under the control of the control unit 1000. In someimplementations, the liquid waste lines lead directly to a liquidsterilization station 556 (FIG. 4) disposed on the deck 910. The liquidwaste from the liquid waste lines is pumped out of the liquid sterilantstation 556 along with the liquid sterilant contained therein.

In some implementations, liquid waste is removed by the roboticaspirator 812 and discarded in the liquid waste receptacle 158. In someimplementations, liquid waste is placed in a closed container and theclosed container containing the liquid waste is discarded in the wastereceptacle 156 along with the solid waste.

Both the solid and liquid waste receptacles 156, 158 can be removed andreplaced directly by persons in the room in which the enclosure 110 islocated. A safety mechanism ensures that the waste receptacles 156, 158cannot be removed unless the access port between the waste receptacles156, 158 and the enclosure 110 is sealed, in order to prevent any entryof air or particles from the room into the enclosure 110 during wasteremoval.

The liquid waste receptacle 158 is provided with a liquid level sensorconnected to the control unit 1000 and configured for detecting liquidlevel in the liquid waste receptacle 158. For example, the liquid levelsensor in the liquid waste receptacle 158 could be configured to detectwhen the liquid level is above a threshold level and to send a signal tothe control unit to alert the control unit 1000 for emptying of theliquid waste receptacle 158. In some implementations, where liquid wastecontains a desired product (e.g., growth factors, antibodies, or otherbiologicals secreted by cells), the liquid waste may be saved forfurther processing to isolate the desired product. For example, wheredesired growth factors are produced by cells, the media in which thecells have been cultured may be collected by the robotic aspirator 812and saved for subsequent processing to isolate the growth factors fromthe media.

Robotic Modules

As best seen in FIGS. 3B, 4 and 5, the robotic module 600 has a roboticarm 605 that can move up and down (Z-direction motion) relative to thebottom wall 212 of the enclosure 110. In a plane parallel to the bottomwall 212, the robotic arm 605 can also move in a direction parallel tothe right side wall 208 (Y-direction motion) and in a direction parallelto the front wall 202 (X-direction motion). The robotic arm 605 of therobotic module 600 is provided with a sensor for sensing the size ofobjects (such as containers, and the like) carried by the robotic arm605, the sensors being connected to the control unit 1000 for sendingsignals thereto. The robotic module 600 also includes sensors fordetecting the X, Y and Z direction positions of the robotic arm 605, thesensors being connected to the control unit 1000 for sending signalsthereto indicative of the current position of the robotic arm 605. Therobotic arm 605 is provided with a gripper to facilitate gripping androtating of caps of tubes and bottles. In the illustratedimplementation, the robotic module 600 is a PAA PronedX Arm manufacturedby Peak Analysis and Automation Inc. The robotic module 600 is disposedon a shelf forming the bottom of the recess 171 of the bottom wall 212of the enclosure 110 in order for robotic module 600 to reach down tothe bottom of the centrifuge 150 that is located below bottom wall 212.The height of the robotic module 600 is greater than that of the otherrobotic module 700 which has many similar features so that it can beused to access the interior of the centrifuge 150 all the way to thebottom of the centrifuge 150. The robotic arm 605 is used to accessobjects in the right side of the deck 910. The robotic arm 600 is usedto transport holders and tubes between the centrifuge 150 and the deck910, and to operate the caps and covers of containers disposed in theright side of deck 910. It is contemplated that, in someimplementations, the robotic arm 605 could be configured to function asa pipettor or aspirator. It is contemplated that the robotic module 600could be equipped with a bar code scanner to keep track of differentcontainers and the like carried by the robotic arm 605. It is alsocontemplated that in some implementations, the robotic arm 605 could beconfigured to rotate about a vertical axis 602, exhibiting circularmotion in a plane parallel to the bottom wall 212.

As best seen in FIG. 4, the robotic module 700 has a robotic arm 705that can move up and down (Z-direction motion) relative to the bottomwall 212 of the enclosure 110. In a plane parallel to the bottom wall212, the robotic arm 705 can move in a direction parallel to the rightside wall 208 (Y-direction motion) and in a direction parallel to thefront wall 202 (X-direction motion). The robotic module 700 is slidablymounted on a rail 710 extending along the X-direction parallel to thefront wall 202, so that the robotic arm 705 can move by a largerdistance along the X-direction than along the Y-direction (parallel tothe side walls 206, 208). Thus, the robotic arm 705 of the roboticmodule 700 has a larger range of motion in the X-direction than in theY-direction. The robotic module 700 includes sensors for detecting theX, Y and Z direction positions of the robotic arm 705, the sensors beingconnected to the control unit 1000 for sending signals theretoindicative of the current position of the robotic arm 705. The roboticarm 705 is used to access and transport objects throughout almost theentire width (X-direction) and length (Y-direction) of the enclosure110. The robotic arm 705 of the robotic module 700 is provided with asensor for sensing the size of objects (such as cell processing trays,media and reagent containers, and the like) carried by the robotic arm705, the sensors being connected to the control unit 1000 for sendingsignals thereto. The robotic arm 705 is used to transport objectsbetween the deck 910, the storage area 300, and the quality control area500. The robotic module 700 is also used to transfer things to and fromthe incubator 152, tilt modules 440, magnetic separation modules 430 andmedia fill stations 420 and the like on the deck 910, the microscope andplate reader 472, the flow cytometer 470, and the like, as well asdispose of waste in the solid waste receptacle 156. In the illustratedimplementation, the robotic arm 705 is a PAA PronedX Arm robotic armmanufactured by Peak Analysis and Automation Inc.

It is contemplated that, in some implementations, the robotic arm 705could be provided with a gripper to facilitate gripping and rotating ofcaps of tubes and bottles. It is contemplated that, in someimplementations, the robotic arm 705 could be configured to function asa pipettor or aspirator. It is contemplated that, in someimplementations, the robotic module 700 could be equipped with a barcode scanner to keep track of different cell processing trays, media andreagent containers, and the like transported by the robotic arm 705. Itis also contemplated that, in some implementations, the robotic arm 705could be configured to rotate about a vertical axis 702 exhibitingcircular motion in a plane parallel to the lower wall 212.

The robotic modules 800 and 820 will now be described with respect toFIGS. 3B, 4, 5, 13 to 16 and 19. In general, the robotic modules 800,820 are used to manipulate (decap, transport, rotate, pipette, aspirate,etc.) many types of components included in the deck 910.

As best seen in FIG. 4, the robotic modules 800 and 820 are mounted to aframe 840 extending above the deck 910 around a periphery thereof. Asbest seen in FIGS. 3B, 4 and 5, the frame 840 includes four verticalframe members 841 extending upwards at each corner of the deck 910 andfour horizontal frame members 842, 844, 846, 848. The front horizontalframe member 842 connects between the front vertical members and extendsacross the front of the deck 910 parallel to the front and rearenclosure walls 202, 204. The rear horizontal frame member 844 connectsbetween the rear vertical members and extends laterally across the rearof the deck 910 parallel to the front and rear enclosure walls 202, 204.The right horizontal frame member 846 extends along a right side of thedeck 910 and connects the right end of the front frame member 842 to theright end of the rear frame member 844. The left horizontal frame member848 extends along a left side of the deck 910 and connects the left endof the front frame member 842 to the left end of the rear frame member844.

With reference to FIG. 4, the robotic module 800 is mounted on a leftside of the robotic module 820. The robotic module 800 includes a pairof rails 802 that are suspended between the front and rear frame members842, 844. In the illustrated implementation, as can be seen in FIG. 19,the robotic module 800 has ten robotic arms 804 mounted to the rails 802and extending downward therefrom. Each of the ten robotic arms 804 isconfigured to perform a specific function. The rails 802 are fixed toone another and can slide together laterally (in the X-direction) alongthe frame members 842, 844 between the left frame member 848 and therobotic module 820 mounted on a right side of the robotic module 800.Five robotic arms 804 are mounted on each rail 802 such that all tenrobotic arms 804 have the same X-direction position. In the Y-direction,consecutive robotic arms 804 are mounted alternatingly on the left andright rails 802. The robotic arms 804 mounted to the rails 802 can slidelongitudinally along the rail 802 towards the front and rear of the deck910. Each robotic arm 804 can also move up and down towards and awayfrom the surface of the deck 910. The robotic module 800 can thus accessmost of the deck 910, for performing the functions that each robotic arm804 is configured for. It is contemplated that all ten robotic arms 804could be mounted on a single rail 802.

FIG. 19 is a schematic illustration of the robotic module 800 in oneimplementation of the ACPS 100. The robotic module 800 has one roboticaspirator/gripper 812, eight robotic pipettors 814 and one plate gripper816 mounted to the rail 802. It is contemplated that the robotic module800 could include more or fewer than ten robotic arms 804, and that oneor more of the robotic arms 804 could be configured for functionsdifferent than that described herein. For example, one of the roboticarms 804 could be configured for reading barcodes, as a pH sensor, or asa particle sensor.

The robotic aspirator/gripper 812 will now be described with referenceto FIGS. 13 to 15. The robotic gripper/aspirator 812 has a body 862 anda central axis 861 which defines the axis of vertical motion for theaspirator/gripper 812. The gripper/aspirator 812 moves up and downrelative to the rail 802 along the central axis 861.

The body 862 has a base 864 and a tube 868 extending axially downwardfrom the base 864. The central axis 861 of the body is coaxial with thecentral axes of the base 864 and the tube 868. The base 864 has an uppersurface 863 and a lower surface 865. A tube 866 in the form of a nippleextends upwards from the upper surface 863. The central opening of thetube 866 is connected to the central opening of the tube 868 via aconduit (not shown) formed in the interior of the base 864. A hose 867(shown schematically in FIGS. 13 to 15) is connected around the tube 866to connect the tube 866 to a pump (not shown) or a pumped line forevacuating the tube 868 in order to provide suction for gripping ofobjects or to perform aspiration.

Four prongs 872 extend downward from the lower surface 865 of the base864. The prongs 872 are distributed circumferentially around the tube868. The prongs 872 are disposed spaced from the tube 868 and disposedclose to the outer edge of the lower surface 865. It is contemplatedthat the number of prongs 872 could be two, three or more than four.Each prong 872 is pivotally mounted to the base 864 so as to be able topivot radially outwardly with respect to the central axis 861 from aradially inward position (FIG. 14) to a radially outward position (FIG.15). As can be seen best in FIG. 14, each prong 872 has an upper portion874 extending below from the base 864, a lower portion 876 and a centralportion 878 connecting the upper portion 874 to the lower portion 876.When the prong 872 is disposed in the radially inward position, theupper portion 874 extends downwardly from the base 864 in a generallyaxial direction, the central portion 878 extends downwardly and radiallyinwardly from the upper portion to the lower portion 876, and the lowerportion 876 extends downwardly from the central portion 878 in agenerally axial direction.

The shape of the prongs 872 allows the prongs 872 to grip objects (suchas tubes and vials, for example) of a wide range of diameters as well asto grip objects disposed with narrow clearance spaces as shown in FIG.30A. For gripping, objects of relatively small diameter are engaged bythe lower portions 876 of the prongs 872 as can be seen in FIG. 14,while objects of relatively large diameter are engaged by the upperportions 874 as can be seen in FIG. 15. In the lower portion 876 of eachprong 872, the surface facing radially inwardly towards the axis 861 isa grooved surface 880 to facilitate gripping of objects. A set screw 882extends through the upper portion 874 in each prong 872 in a radialdirection. The set screw 882 allows the prongs 872 to grip objects ofrelatively larger diameter between the upper portions 874 of the prongs872 when the prongs 872 are pivoted outwards to the respective radiallyoutward positions as can be seen in FIG. 15. The aspirator/gripper 812of the illustrated implementation is very effective as a small tubegripper. For example, with reference to FIG. 15, in theaspirator/gripper 812 of the present implementation, the prongs 872 areconfigured to be able to grip a single tube 884 having a diameter of 8.2mm from an array of 8.2 mm diameter tubes 884 arranged to have aclearance 886 of 2.3 mm between adjacent tubes.

The prongs 872 are operatively connected to a motor 899 (shownschematically in FIG. 13) that can be activated to control the radialposition of the prongs 872 for gripping objects of different diametersand/or widths. Each prong 872 has its upper portion 874 connected to abracket 890 which extends above the base 864 through a slot (not shown)defined in the base 864. A lower end of the bracket 890 is rotatablymounted to the base 864 by a pin 892. The bracket 890 is thus rotatableabout the pin 892 (about an axis extending perpendicular to the radialand axial direction defined by the axis 861). An upper portion of thebracket 890 has a roller 894 rotatably mounted thereto. The roller 894is rotatable about an axis parallel to the axis of the pin 892. Theroller 894 is in contact with the outer surface of a centrally mountedshaft 896 extending axially along the axis 861. The diameter of theshaft 896 increases continuously in an upward or downward direction. Theshaft 896 can be moved upwards or downwards relative to the base 864 byrotating an actuating shaft 898. The actuating shaft 898 is connected tothe motor 899 for rotation thereof about the axis 861. The motor 899rotates an axle 912 which is operatively connected to the actuatingshaft 898 by means of an endless belt 914 for rotating the actuatingshaft 898 about the axis 861. As the shaft 896 moves upward (ordownwards), the roller 894 contacting the outer surface of the shaft 896is pushed radially inward or outward due to the changing diameter of theshaft 896. When the roller 894 moves radially outwards or inwards, thelower portion of the bracket 890 mounted to the pin 892 rotatesaccordingly about the pin 892 causing a pivoting of the prong 872 eithertowards or away from the axis 861. The prongs 872 can thus be pivotedinwardly to grip objects and outwardly to release gripped objects. Inthe illustrated implementation, when the roller 894 moves radiallyoutwardly, the corresponding prong 872 pivots radially outwardly awayfrom the axis 861. A torsion spring 899 mounted around the pin 894biases the mounting bracket 890 towards a position in which the prongs872 are disposed in the radially inward position of FIG. 14. In someimplementations, the motor 899 is configured such that direction ofrotation of the axle 912 depends on the polarity of electric currentsupplied to the motor 899. Thus, the direction of rotation of theactuating shaft 898 about the axis 861 can be reversed by reversing thepolarity of electric current to the motor 891.

In the illustrated implementation, the motor 899 is configured tocontrol the radial position of the prongs 872. It is contemplated thatthe motor 899 could control the gripping force exerted by the prongs 872in a direction towards the axis 861. It is further contemplated that theprong 872 could not be spring loaded or be biased towards the radiallyoutward position instead of the radially inward position. It iscontemplated that the shape of the prongs 372 could be different than asshown herein. It is also contemplated that the mounting of the prongs372 and the actuation mechanism for pivoting the prongs 372 could beother than that shown herein.

As can be seen in FIG. 15, the robotic aspirator/gripper 812 can be usedwith an aspirator tip 870 so as to function as a robotic aspirator toaspirate liquid from a container, such as a cell processing container314. In operation, when aspiration is desired, the robotic arm 804extends downwards towards an aspirator tip holder disposed on the deck910. Once the robotic arm 804 is positioned over a selected position ofthe aspirator tip holder having a selected aspirator tip 870, therobotic arm 804 is lowered with the prongs 872 being pivoted outwardlyto receive the tip 870 between the prongs 872 and dispose the tube 868inside the upper end of the lumen of the selected aspirator tip 870. Theprongs 872 are then pivoted inwardly to grip the tip 870 with theset-screws 882. Once the tip 870 is gripped by the prongs 872,evacuation of the hose 867 is commenced (by opening the connectionbetween the hose 867 and a pump or a pumped line) to hold the tip 870fixed in place around the tube 868. The tip 870 is sealed against theouter surface of the tube 868. It is also contemplated that the tip 870could be configured to seal against the lower surface 865 of the base864. The robotic aspirator/gripper 812 is then moved to a position abovethe container to be aspirated and lowered therein to aspirate thecontents of the container. The liquid aspirated from a container issuctioned up through the aspirator tip 870 into the tube 868 and thenvia the tube 866 and hose 867 into the pumping lines (not shown). Insome implementations, the robotic aspirator/gripper 812 includes aone-way valve device (not shown) to prevent aspirated liquid fromflowing back into the container from which it was aspirated. Afteraspiration has been completed, the aspirator tip 870 is discarded. Fordisposal of the aspirator tip 870, the robotic arm 804 is positionedover one of the waste chutes 480, 482 connected to the waste receptacle156 and the connection between the hose 867 and the pump or pumped linesis turned off. Once the pressure inside the tip 870 slowly equilibrates,the tip 870 releases and drops into the waste receptacle 156. If the tip870 does not release from the tube 868 within a predefined time afterthe fluid disconnection of the hose 867 from the pump, the robotic arm804 is moved to gently tap a sterile portion of the outside of theaspirator tip 870 against the walls of the chute 480, 482 and to therebyrelease the tip 870 from the tube 868.

In the illustrated implementation, the vacuum or pumping of the tube 866is maintained at the same level during aspiration as for picking up theaspirator tip 870. It is however contemplated that the pumping of thetube 866 could be regulated differently during aspiration than forgripping of the aspirator tip 870 prior to aspiration from a container.In some implementations, containers which are to be aspirated areprovided with downholders to prevent the container from attaching to theaspirator tip and to thereby ensure that only the contents of thecontainer are suctioned into the aspirator tip 870. (FIG. 11A to 11Dshow a downholder 446 for a container in the form of a transport tray340 (e.g., a Petaka™ tray).

The aspirator tips 870 used are sterile and disposable to reducecontamination. The sterile disposable aspirator tip 870 is replacedbetween the processing of each batch or the processing of a differentsubstance that is aspirated. The possibility of cross contamination dueto back-flow or dripping of the aspirated contents from the aspiratortip 870 is further reduced by continuing pumping of the tube 868 tomaintain continuous negative pressure through the tip orifice 874 (FIG.15) until the aspirator tip 870 is discarded. The interior passages ofthe tubes 868 and 866 and the hose 867 can be sterilized as desired orat regular intervals by aspirating sterilant from a sterilizationstation 556 (FIG. 4) provided on the deck 910.

In the illustrated implementation, integrating the prongs 872 with theevacuated tubes 866, 868 makes the aspirator/gripper 812 function moreeffectively as an aspirator by ensuring more efficient and fastinstallation of the tip 870 around the tube 868. The prongs 872additionally enable gripping of a variety of objects using the samerobotic arm 804 as the aspirator. The integrated aspirator/gripper 812is space-saving as well as versatile and more effective. It iscontemplated that the ACPS 100 could include robotic aspirators that areconfigured differently than that shown herein. It is contemplated thatthe prongs 872 could be omitted and the robotic arm 804 having the body862 with base 864, and tubes 866 and 868 could function only as anaspirator instead of being an integrated aspirator/gripper as shownherein.

The robotic module 800 also has eight robotic pipettors 814 (shownschematically in FIG. 19) that can hold a sterile and disposable pipettetip (not shown) for aspirating liquid from and dispensing liquid into acontainer, such as a cell processing container 314. The liquid aspiratedby the robotic pipettor 814 from a container is suctioned up into thesterile disposable tip and can subsequently be dispensed into anothercontainer or discarded in the liquid waste receptacle 158 of thesterilization station 556 (that is then pumped out into a liquid wastereceptacle). In the illustrated implementation, the pipette tips arealso provided with a filtering membrane. The robotic pipettors 814 arethus configured to reduce risk of contamination during processing. It iscontemplated the filtering membrane could be omitted. In the illustratedimplementation, robotic pipettors 814 are HAMILTON™ STAR Line pipettorsand configured for use with HAMILTON™ 300 μl, 4 ml and 5 ml conductivesterile filter disposable pipette tips. In the illustratedimplementation, the pipette tips are configured for dispensing up to 5ml of liquid at a time, but it is contemplated that the tips could beconfigured for different volumes of liquid other than 300 μl, 4 ml and 5ml.

In some implementations, the robotic pipettors 814 can detect liquiddensity, and can thus be used to detect changes in density of liquid inthe container into which the pipette tip is inserted. This allows formeasuring of liquid levels in containers, or separation of liquids ofvarying densities from each other, including aspirating the supernatantabove the pellet of a centrifuged cell culture sample so the pellet andsupernatant are collected separately.

The robotic pipettor 814 can be used to perform a variety of otherfunctions. For example, the injecting of cell culture into the transporttray 340 mounted on a tilt module 440 is performed using a roboticpipettor 814. As another example, the robotic pipettor 814 can also beused to initiate nucleation for freezing of cell culture in a vialplaced on the cryofreezer 460 by inserting an appropriate frozenpipettor tip held by the robotic pipettor 814 into the vial placed onthe cryofreezer 460.

In the illustrated implementation, one of the robotic arms 804 isadditionally configured as a reagent dispenser 818 by mounting adispensing head (not shown) to the robotic arm 804. The dispensing headis connected via a fluid conduit (not shown) and a peristaltic pump (notshown), to a supply container stored outside the enclosure 110, forexample in the isolator 120 or in the refrigerator 160 connectedthereto. The reagent dispenser 818 serves to dispense larger volumes offluid in a continuous manner without having to stop and refill thepipette tip with fluid to be dispensed. The reagent dispenser 818 cantherefore be used to efficient and fast filling of reagent containers,such as the container 836, disposed within the enclosure 110 and withouthaving to remove the reagent container 836 from the enclosure for thefilling thereof. In some implementations, the reagent dispenser 818 canbe used to dispense media.

One robotic arm 804 of the robotic module 800 is configured to functionas a gripper 816 for gripping and transporting objects such as thetransport tray 340, the pipette tip holder 418, centrifuge tube holder410 and the like. In the illustrated implementation, the gripper 816 isa Hamilton™ iSWAP Gripper (Hamilton Robotics, Reno, Nev., USA)configured to grip SBS format containers and other objects havingsimilar length and width dimensions. It is contemplated that the plategripper 816 could be configured to hold horizontally-extended objects ofvarying dimensions.

The robotic module 820 will now be described with reference to FIGS. 4and 16. The robotic module 820 includes a rail 822 that is suspendedbetween the front and rear frame members 842, 844. With reference toFIG. 16, one or more robotic arms 824 can extend downward from the rail822. The rail 822 can slide laterally along the frame members 842, 844between the robotic module 800 and the right frame member 846. Therobotic arms 824 mounted to the rail 822 can slide longitudinally alongthe rail 822 towards the front and rear of the deck 910. Each roboticarm 824 can move vertically up and down towards and away from surface ofthe deck 910 along a vertical axis 826 defined by the robotic arm 824.The robotic module 820 can thus access most of the deck 910.Furthermore, each robotic arm 824 is also rotatable about the axis 826.

In the illustrated implementation, the robotic module 820 includes fourrobotic arms 824 which are each configured as a rotating cap gripper830, referred to hereinafter as decapper 830 for convenience. Eachdecapper 830 rotates about the vertical axis 826 for opening and closingof various tube and bottle caps that are on the deck 910. The grippers830 unscrew caps and covers from the containers, screw caps and coversonto containers, as well as move containers across the deck 910.

With reference to FIG. 16, each decapper 830 includes a body 832defining a central axis 831. The body 832 is mounted to the robotic arm824 such that the axis 831 is coaxial with the axis 826 and the body 832is rotatable about the axis 826. Each robotic arm 824 includes fourprongs 834 pivotally connected to the outer surface of the body 832(surface facing away from the axis 831). It is contemplated that thenumber of prongs could be two, three or more than four. It is furthercontemplated that the prongs 834 could have different dimensions insteadof all having the same dimensions. The prongs 834 can be controlled topivot radially inwardly and outwardly for gripping and releasing objectssuch as caps and tubes. For decapping, the robotic arm 824 is loweredtowards the cap 838 of the container 836 to be decapped with the prongs834 being pivoted outwardly. Once the prongs 834 are disposed around thecap 838, the prongs 834 are pivoted radially inwardly to grip the cap838 of the container 836 to be decapped. The robotic arm 824 is thenrotated in the appropriate direction to unscrew the cap 838 from thecontainer 836. As will be understood, the container 838 can be capped byrotating the cap 838 placed on the container 836 in a reverse directionas that used for capping.

In the implementation of FIG. 16, the container 836 has a squarecross-section and is disposed inside a complementary square receptacle840 which aids decapping and capping of the container 836 by preventingrotation of the container 836 while the cap 838 is being rotated by thedecapper 830. Thus, for effective decapping and capping, containers 836can be configured to be rotationally asymmetric (for example,non-circular in cross-section as in the implementation of FIG. 16) anddisposed in complementary receptacles that prevent rotation of thecontainer 836 when the cap 838 is being rotated by the prongs 834. Inother implementations, the containers 836 may not be rotationallyasymmetric but are otherwise retained in the receptacle to preventrotation with the cap 838.

In the illustrated implementation of the robotic module 820, the prongs834 of each of the four decappers 830 are configured for grippingobjects within a particular range of sizes. The range of sizesassociated with each decapper 830 is different than that associated withthe other three decappers 830. Thus, together the four decappers 830form a universal decapper for decapping caps and covers of a wide rangeof sizes.

It is contemplated that the robotic module 820 could have more than orfewer than four robotic arms 824. It is contemplated that one or more ofthe robotic arms 824 could also be configured to function as a pipettoror aspirator. It is further contemplated that the robotic module 820could, in some implementations, also include robotic arms configured forother functions such reading barcodes, analyzing pH or particle counts,and the like.

Sterilization System

The ACPS 100 includes an automated enclosure sterilization system forperforming a global sterilization of the enclosure 110 and all exposedsurfaces housed therein. The automated enclosure sterilization system isconfigured for automatic sterilization of the enclosure 110 withoutrequiring human intervention. It is contemplated that the automatedenclosure sterilization system could also be used for sterilization ofthe isolator 120 and BSC 130.

The automated enclosure sterilization system includes a sterilizationunit 550 (shown schematically in FIG. 2) for purging the enclosure 110with an appropriate sterilant for automated sterilization of theenclosure 110. The enclosure 110 includes a sterilant inlet 230, acatalytic converterinlet 231, a sterilant outlet 232, and a catalyticconverter outlet 233 as mentioned above. The sterilization unit 550 isconnected to the sterilant inlet 230 and outlet 232 for respectivelyintroducing sterilant into and removing sterilant from the enclosure110. The sterilant inlet 230 is configured to deliver the sterilantreceived from the sterilization unit 550 into the interior of theenclosure 110 as a spray or vapor mist. The sterilant outlet 232 isconnected to a pump of the sterilization unit 550 which neutralizes thesterilant removed from the enclosure 110 before releasing to theatmosphere. The ACPS 100 includes impellers (not shown) inside theenclosure 110 for circulating the sterilant received from the sterilantinlet 230 and for increasing dispersion of the sterilant throughout theinterior of the enclosure 110.

The sterilization unit 550 injects sterilant into the sterilant inlet230 for an appropriate amount of time to sterilize the surfaces ofenclosure 110, after which the sterilization unit 550 stops injectingsterilant into the sterilant inlet 230, and instead injects air into thesterilant inlet 230 to purge the enclosure 110 of any remainingsterilant particles.

In the illustrated implementation, the sterilization unit 550 is STERIS™VHP 1000ED Mobile Biodecontamination System (STERIS Corporation, Mentor,Ohio, USA) configured to inject hydrogen peroxide vapor (such as Vaprox™Sterilant, STERIS) as the sterilant but it is contemplated that anyappropriate sterilization unit and sterilant could be used instead ofthat shown herein. The sterilization unit 550 of the illustratedimplementation is also connected to the catalytic converter inlet andoutlet 231, 233 to introduce a catalytic converter into the enclosure110 in order to convert the sterilant vapor to harmless andbiodegradable water vapor and oxygen at the end of the sterilizationprocedure.

Sterilization of the enclosure 110 is performed after it has been openedto the outside environment (for example, after repairs and maintenance)or after suspected or detected contamination in enclosure 110, so thatall the exposed surfaces inside the enclosure 110 as well as theenclosed air is sterilized from any live biological contaminatingparticles. The enclosure 110 could also be sterilized between processingof batches, at periodic intervals, or as desired.

Before the interior of the enclosure 110 is sterilized by introducingsterilant into the enclosure 110, all the cell processing containers 314containing cells and/or culture are generally transferred from theenclosure 110 to an area that can be sealed from the enclosure 110 (suchas the incubator 152, for example), and the enclosure 110 isautomatically sealed.

Automatically sealing the enclosure 110 includes automatically closingthe air inlet 222, the air outlets 224, and the ports 176, 178,connected to the waste receptacle 156. In addition, the insulation doorof the freezer 154 is automatically closed to provide greater insulationfrom the cold temperatures of the freezer 154 in order to reduce thepossibility of sterilant condensation on and around the freezer door.Any other ports connected to other system components exterior to theenclosure 110 (such as the isolator connection port 220 connected to theisolator 120, the access port 170 connected to the centrifuge 150, theaccess port 172 connected to the incubator 152, the access port 174connected to the freezer 154, and the like) are verified to be closedand/or closed automatically if determined to be open. The system 100also verifies that all reagent containers are closed. Access portsconnecting to system components that do not lead to the outsideenvironment could also be controlled to remain open for sterilization.For example, the access port 170 could remain open to sterilize theinside of the centrifuge 150, or the access port 220 could remain tosterilize the inside of isolator 120.

In addition to the automated enclosure sterilization system forperforming a global sterilization of the enclosure 110, the ACPS 100includes a liquid sterilization station 556 (FIG. 9) disposed on thedeck 910 for sterilizing individual objects inside the enclosure 110.The sterilization station 556 includes a container connected via fluidlines to a pump and a sterilant liquid source via fluid lines. Thesterilization station 556 is thereby configured to circulate sterilantliquid (for example, bleach as in the illustrated implementation, or anyother appropriate sterilizing liquid) therethrough. Objects to besterilized such as media fill tips, aspirator tips 870 and pipette tips,for example, can be dipped into the sterilization station 556 for anappropriate period of time by one of the robotic arms of one of theonboard robotic modules 800 or 820 while the sterilant fluid iscirculated. The sterilization station 556 allows sterilization ofindividual objects without removal of the object from the enclosure 110which helps to minimize interruptions in the processing sequence andreducing risk of cross contamination within the enclosure 110.

System components such as the incubator 152 are also equipped with theirown respective automated sterilization units. Before sterilization of aparticular system component by the associated sterilization unit, theaccess port connecting the system component is closed and containersstored within the system component are typically removed therefrom,unless the containers are desired to also be sterilized. For example,the incubator 152 is associated with an automated incubatorsterilization unit 552 (FIG. 3C) for sterilizing the interior of theincubator 152. Before the interior of the incubator 152 is sterilized bythe incubator sterilization unit 552, the access port 172 is closed andany sample containers stored within the incubator 152 are removedtherefrom. In the illustrated implementation, the automated incubatorsterilization unit 552 is a SafeErase ClO₂ Decontamination Systemmanufactured by MPB Industries Ltd which uses ethylene oxide as asterilant but any suitable sterilization unit and sterilant could beused.

It is contemplated that the isolator 120 and the BSC 130 could also beconnected to the sterilization unit 550 or to another sterilization unitsimilar thereto for automatic sterilization of the enclosed interiorspace.

The described sterilization systems and procedures are effective forensuring minimal contamination due to exposure to the exteriorenvironment while also allowing the system 100 to function withoutintervention by a human operator. It is contemplated that thesterilization of the enclosure 110 or one of the system components couldalso be initiated as a result of user input from an operator of thesystem 100. It is further contemplated that one or more of the steps(for example, closing of the air outlets) that have been described aboveas being automated could be capable of execution with the aid of a humanoperator, in addition to automated execution.

Tracking System

As mentioned above, all of the cell processing containers 314,centrifuge tubes, vials and transport trays 340 and many of the otherscontainers (such as reagent containers and the like) have barcodes. TheACPS 100 includes a barcode scanner 498 (shown schematically in FIG. 2)inside the enclosure 100 to facilitate tracking of batches introducedinto the enclosure 110. Many of the processing modules such as theHamilton decapper and the incubator 152 have barcode scanners to verifythe identity of containers being processed. The control unit 1000 isconnected to the modules having the barcode scanners, to the roboticmodules 600, 700, 800, 820 transporting the containers mentioned above,to the storage racks 310, 320, 330 storing the containers, and to manyof the processing modules such as the media fill stations 420 andincubator 152 which can receive the containers mentioned above. Thus,the control unit 1000 can track the location (position) of eachcontainer as well as track each movement of each container and therebyeach step of the processing of each container.

All containers can thus be tracked via positional memory and bar codesto comply with GMP guidelines. The control unit 1000 keeps recordsassociated with particular stations or system components (for example,the incubator 150 or centrifuge 150) to identify and track cellprocessing containers 314 located within the station/component providinga positional memory for the particular container. The control unit 1000also keeps records associated with each container (identified by theassociated bar code) or batch as the container is moved through variousprocessing steps.

The ACPS 100 includes a camera 497 (shown schematically in FIG. 2) forobtaining images (along with an current timestamp) of activity occurringwithin the enclosure 110. The camera 497 could be obtaining imagescontinuously or intermittently. It is contemplated that the camera 497could be a plurality of cameras disposed at different locations tocapture activity in different parts of the enclosure 110. It is alsocontemplated that activity in the isolator 120 and the BSC 130 could berecorded with the same camera 497 or with other camera(s) 497. Thecamera 497 is connected to the control unit 1000 and the images providedby the camera 497 are stored in a memory associated with the controlunit 1000 or connected to the control unit 1000. In someimplementations, images obtained by the camera 497 are associated withthe sample(s) being currently processed and included along with, or aspart of, the sample processing logs associated with a sample.

Control Unit

With reference to FIG. 18, the control unit 1000 in the illustratedimplementation is a computer which is communicatively coupled to variousmodules of the ACPS 100 in order to facilitate automated processing ofcells. The control unit 1000 is communicatively coupled to variousstorage modules (storage racks 310, 320, and transport trays 322). Thecontrol unit 1000 is communicatively coupled to various processingmodules (media fill stations 420, incubator 152, decapping module 414,and the like). The control unit 1000 is communicatively coupled tovarious tracking modules of the tracking system. The control unit 1000is communicatively coupled to various robotic modules 600, 700, 800,820. The control unit 1000 is communicatively coupled to various qualitycontrol modules (cytometer 470, microscope and plate reader 472, and thelike). The control unit 1000 is communicatively coupled to variousharvesting modules (transport tilt holder tilt module, freezer 460, andthe like). The control unit 1000 is also communicatively coupled toother miscellaneous components particle counter 190, gates across accessports, and the like. The control unit 1000 is coupled to systemcomponents such as the electric actuator 256 for opening and closing theair outlets 224.

The control unit 1000 obtains and processes information from all thecommunicatively coupled modules which allows the control unit 1000 tocontrol cell processing, to track and monitor cell processing, and tocreate a record of the cell processing. The record could be used forQuality Assurance purposes as will be described below. The control unit1000 thus facilitates conformance of the cell processing to GMPguidelines.

The following is an example of the control unit 1000 controlling a cellprocessing step involving incubation 152. The control unit 1000instructs the robotic arm 705 to pick up a cell processing container 314from one of the media fill stations 420 and move it to a specifiedlocation disposed above the incubator access port 172. The control unit1000 tracks the position of the robotic arm 705 based on the signalsreceived from the various sensors coupled to the robotic module 700.When the cell processing container 314 is moved by the robotic arm 705to the specified location disposed above the incubator access port 172,the control unit 1000 sends a signal to the incubator 152 causing a gatein the incubator 152 to be opened. The control unit 1000 then causes theincubator robotic arm inside the incubator 152 to extend upward throughthe incubator access port 172 to receive the cell processing container314 from the robotic arm 705, the barcode on the cell processingcontainer 314 is read by the barcode scanner inside the incubator 152which then sends a signal to the control unit 1000 indicative of thebarcode identification. The incubator robotic arm places the cellprocessing container 314 on a shelf inside the incubator 152 and closesthe gate thereby sealing the enclosure 110 from the incubator 152. Theincubator 152 is controlled by the control unit 1000 to incubate thecell processing container 314 at a predetermined temperature, atpredetermined CO₂ and O₂ levels, and for a predetermined period of time.When the predetermined period of time ends, the control unit 1000 sendsa signal to the incubator 150 causing the gate for accessing theincubator 152 to be opened and the cell processing container 314 to bemoved by the incubator robotic arm, towards the incubator access port172. The barcode on the cell processing container 314 is read by theincubator barcode reader and a signal indicative of the barcodeidentification is sent to the control unit 1000. The control unit 1000sends a signal to the robotic arm 705 of the robotic module 700 toretrieve the cell processing container 314 from the incubator roboticarm and to place the cell processing container 314 on one of the tiltmodules 430. The control unit 1000 updates the process records for theparticular cell processing container 314 to reflect that the cellprocessing container 314 has completed the incubation step and isundergoing a particular processing step. The control unit 1000 furtherupdates a record associated with the tilt module 430′ indicating theparticular tilt module 430′ (identified by its location) currently holdsa particular cell processing container 314 (optionally furtheridentified by its barcode).

As the processing continues, in this example processing sequence, thecontrol unit 1000 causes removal of the lid of the cell processingcontainer 314, and for the robotic aspirator 872 to pick up an aspiratortip 870 to aspirate the old media in the cell processing container 314,followed by placing of the cell processing container 314 onto a mediafill station 420 to fill it with fresh media, along with adding areagent with the robotic pipettor 814 by picking up a new sterilefiltered tip and aspirating the reagent from a predetermined containerand dispensing it into the cell processing container 314, followed byplacing of the lid back onto the cell processing container 314. Thecontrol unit 1000 further updates, at each step, the record associatedwith cell processing container 314 as well as the tilt module 440 and/ormedia fill station 420 indicating the particular tilt module 440 and/ormedia fill station 420 (identified by its location). The control unit1000 then causes the robotic arm 705 to move the cell processingcontainer 314, and transporting of the cell processing container 314back to the incubator 150 as detailed above in addition to updating therecord associated with the cell processing container 314 as well asincubator 150.

In some implementations, the control unit 1000 is configured to enableQuality Assurance (QA) in the automated cell processing. The controlunit 1000 generates a comprehensive record of various details of thecell processing steps and including information obtained from thequality control analysis performed during the cell processing or afterthe cell processing is completed.

In some implementations, the control unit 1000 is further configured toverify that the processing and/or the end product of the cell processingis in accordance with a predetermined specification for the processand/or the product. The control unit 1000 could be provided with apredetermined checklist, and be configured to verify satisfaction ofcriteria on the pre-determined checklist. For example, the checklistcould include criteria to ensure that one or more steps were performedcorrectly, or that particular events did not occur during a step of theprocessing, or that one or more product parameters are within aspecified range. In an example where the cell processing is for a celltherapy application, the checklist could be designed to verify that theend product is ready for release to the patient.

In some implementations, the control unit 1000 is further configured tomake processing decisions, e.g., to decide which steps to execute inorder to produce a desired end product. For example, in someimplementations the control unit 1000 is configured to determine one ormore subsequent step for execution based on results of analyzing one ormore characteristics. In an illustrative implementation, the controlunit 1000 is configured to determine that further incubation of a batchis required based on determination of low cell number or confluencyusing the flow cytometer 470 or the microscope and plate reader 472, andaccordingly to execute such further incubation in the incubator 152. Inanother illustrative implementation, the control unit 1000 is configuredto determine that gene repair is needed and accordingly to execute agene editing process for gene repair, based on diagnostic assay resultsindicating the cells in a batch possess a disease-causing gene mutationobtained using an antibody specific to the gene mutation or by primersspecific to the gene mutation run an analyzed by a qRT-PCR machine. Inanother illustrative implementation, the control unit 1000 is configuredto determine that removal of dead cells is desired and to execute suchprocesses, based on determining low viability using the flow cytometer470. In another illustrative implementation, the control unit 1000 isconfigured to select a desired cell potency or to purify desired cellsin a batch, for example by magnetically sorting cells expressing acertain marker, to achieve a desired potency or purity using a magnetictilt module 440 provided with an adequately strong magnet 434. It shouldbe understood that the control unit 1000 can be configured to make avariety of such processing decisions using the results of analyzing oneor more characteristics, without human intervention during theprocessing.

With reference to FIG. 18, the control unit 1000 includes a processor1002 coupled to a network communication interface 1004. The processor1002 is configured to execute various methods, including those describedherein. To that end, the processor has a memory 1006 (in the form ofRandom Access Memory (RAM), flash memory, or the like), or iscommunicatively coupled to the memory 1006 that stores computer readablecommands which, when executed, cause the processor to execute thevarious methods described herein. In some implementations, the memory1006 also stores process logs, process records and other informationrelated to the execution of methods described herein. In someimplementations, the control unit 1000 includes or has access to one ormore other data storage devices for storing such process logs, processrecords and other information related to the execution of methodsdescribed herein

The network communication interface 1004 (such as a modem, a networkcard and the like) is configured for two-way communication with othercomponents of the ACPS 100 over an ACPS communication network 1008. Inthe illustrated implementation of the present technology, the ACPScommunication network 1008 is a local area network (LAN). In otherimplementations of the present technology, the ACPS communicationnetwork 1008 could be other than LAN, such as the Internet, a wide-areacommunication network, a local-area communication network, a privatecommunication network and the like. The ACPS communication network 1000could be a plurality of communication networks 1008. In the ACPScommunication network 1008, communication could occur over various typesof communication links such as wireless links (such as the WirelessFidelity, or WiFi® for short, Bluetooth® or the like) or wired links(such as a Universal Serial Bus or USB-based connection or Ethernetbased connection, for example).

In the implementation of FIGS. 1A to 2, the control unit 1000 includes auser interface comprising a user input device 1010 for receiving userinputs and a user output device 1012 for conveying information to auser. In the implementation of FIGS. 1A to 2, the user input deviceincludes a keyboard and mouse but it is contemplated that the user inputdevice could be in the form of any suitable user input device such as akeyboard, a mouse, a touch pad, a touch screen, microphone, trackball,joystick, a finger-tracking, pen-tracking or stylus tracking element andthe like. In the implementation of FIGS. 1A to 2, the user output device1012 is in the form of a display screen. The control unit 1000 alsoincludes other forms of user output devices 220 such as a speaker, aprinter and the like for providing other types of visual, auditory ortactile outputs to the user.

In the illustrated implementation, the control unit 1000 is shown as asingle desktop computer. It is however contemplated that the controlunit 1000 could include a plurality of desktop computers and/or othercomputing devices, each computing device having a processor 1002associated with a memory 1006 and a network communication interface1004. The processor 1002 could be a single shared processor, or aplurality of individual processors, some of which may be shared. Eachprocessor 1002 could be associated with one or more memory 1006.

The control unit 1000 comprises hardware and/or software and/orfirmware, as is known in the art, to execute various tasks, such asreceiving a signal from a sensor, system component or module, processingthe received signals, determining a subsequent step for cell processingbased on the received signal, generating control signals (instructions)for controllable system modules and/or components such as qualityassurance module, the incubator, and the like, and sending controlsignals to the controllable system components for executing thedetermined subsequent step.

The term “module” as used herein could refer to software, hardware orany combination thereof. For example, the quality assurance module is asoftware module residing in a memory 1006 of the control unit 1000. Thequality assurance software module comprises code which when executed bythe processor 1002 executes quality assurance functions as describedherein. It is contemplated that a quality assurance module could be ahardware module comprising a separate dedicated computing device withits own processor, memory and network communication interface.

In some implementations, the ACPS communication network 1008 is not theinternet and the control unit 1000 is not connected to the internet inorder to prevent unauthorized entry into the control unit 1000 whichcould compromise the product or test results. In some implementations,the control unit 1000 is configured to provide system messages (such aserror messages, alerts or prompts) indirectly via an externalcommunication network (for example, a cellular communication network),i.e. a communication network that is not the ACPS communication network1008. It is contemplated that the control unit 1000 could be configuredto turn on/off the power to a particular element or outlet where aseparate detector senses the loss in power and, as a response to theloss in power, sends a pre-determined message. As another example, thecontrol unit 1000 could display a predetermined pattern (for example, atwo-dimensional barcode) on a monitor which is configured to be read bya camera connected to a communication network. The camera could transmitappropriate messages via the communication network based on the patterndisplayed by the monitor. Thus, the control unit 1000 is configured tocause transmission of appropriate messages to appropriate recipients viaan external communication network without being directly connected tothe external communication network.

Integration of Multiple Systems

With reference to FIG. 17, an integrated system 10 including two or moreACPS 100 such as the ACPS 100 described above can be connected together.The illustrated implementation of FIG. 17 shows a dual integrated ACPS10 including a left ACPS 100 having an enclosure 110 and an isolator120. A right ACPS 100 also includes an enclosure 110 and an isolator120. Each ACPS 100 is connected to an incubator 180. The left enclosure110 has an access port 182 on its right side wall 208 which is connectedto an access port in the left side wall of the incubator 180. The rightenclosure 110 has an access port 182 on its left side wall 208 which isconnected to an access port in the right side wall of the incubator 180.The connection between the incubator 180 and each enclosure 110 issealed. Cell processing containers 314 can be passed between theincubator 180 and each of the enclosures 110. Cell processing containers314 can thus be passed between the left and right enclosures 110 via theincubator 180 without being removed outside the ACPS 10. The integratedACPS allows better utilization of valuable resources by sharing ofresources without increasing the risk of contamination within each ACPS100.

In some implementations, the isolator 120 of each ACPS 100 above in theintegrated system 10 above is connected to the same BSC 130. In someimplementations, the isolator 120 of the left ACPS 100 would beconnected to a first BSC 130 and the isolator 120 of the right ACPS 100would be connected to a second BSC 130 that is different from the firstBSC 130.

In some implementations, each ACPS 100 above in the integrated system 10above is controlled by the same control unit 100. In someimplementations, the left ACPS 100 would be controlled by a firstcontrol unit 1000 and the right ACPS 100 would be controlled by a secondcontrol unit 1000 that is different from the first control unit 1000.

Sequential Processing of a Plurality of Batches

The ACPS 100 is configured for processing of multiple batches at onetime without cross-contamination between the batches.

The processing of multiple batches at one time withoutcross-contamination between the batches is enabled in part by factorssuch as the structure and layout of the enclosure 110, the air flowsystem, the waste systems 156, 158, the relative physical placement ofvarious components within the enclosure 110, the configuration of theconnection between the enclosure 110 and various equipment (such as thecentrifuge 150, and the like) outside the enclosure, the presence andparticular configuration of the isolator and the BSC, and the like.

In addition, the control unit 1000 is configured to ensure that at anyone time, only one batch is exposed to the environment inside theenclosure 100. As the control unit 1000 tracks the position, movementand processing of each cell processing container 314, the control unit1000 can control the processing of multiple batches within the enclosure110 at the same time such that when one cell processing container 314 isopen to the environment, for example, for addition of reagent, othercell processing containers 314 belonging to a different batch aredisposed remotely from the open cell processing container 314. In otherwords, the control unit 1000 is configured to allow a cover of a givencell processing container 314 to be removed only when all of the cellprocessing containers 314 belonging to a different batch are disposedremotely from the given cell processing container 314. Thus, whileclosed cell processing containers 314 belonging to different batches maybe placed next to each to each other in the incubator 152, or in thefreezer 154, two cell processing containers 314 belonging to differentbatches may not be found on separate media fill stations 420 on the deck910.

In some implementations, the control unit 1000 is further configured toensure that a cell processing container 314 is not left uncovered exceptduring addition or removal of materials to and from the cell processingcontainer 314. Thus, cell processing containers 314 generally remaincovered except during addition or removal of materials to and from thecell processing container 314.

In some implementations, after closing a cell processing container 314for a first batch, a cell processing container 314 for another batch isopened only when the particle count as measure by the particle counter190 is below a threshold level.

In some implementations, as mentioned above, the space inside theenclosure 110 can be divided into separate spaces by a laminar airflowwall. The laminar airflow wall could be constructed, in someimplementations, to allow simultaneous processing of multiple batches inthe separated spaces within the enclosure 110 by reducing the risk ofcontamination between the separated spaces.

For example, in the presence of a laminar airflow wall that divides thespace within the enclosure 110 into a first space and a second space, itis contemplated that a first batch could be processed in the first spacewhile a second batch is being processed in the second space. Thus, inthis example, it is contemplated that a cell processing container 314 ofa first batch could be opened for filling reagent therein in the firstspace, while a second cell processing container 314 of a second batch isopened for filling reagent therein in the second space. The separationof first space from the second space by the laminar airflow wall reducesthe risk of, or prevents, contamination between the first batch and thesecond batch.

Methods and systems provided herein are designed to process a largenumber of batches at the same time without cross contamination betweenbatches using sequential processing of batches. As used herein, the term“sequential processing” means that when a plurality of batches areundergoing processing in the ACPS 100 at the same time, only one batchat a time is open to the environment, i.e., only one batch on the deck910 or in the enclosure 110 is open at a time. It should be understoodthat many of the batches may be at different steps or stages ofprocessing, for example one batch may have just started processing,whereas another batch is near completion. Further, not all batches arenecessarily processed in the same way; for example, one batch maycomprise a first type of cell (e.g., fibroblasts) being reprogrammed toa second type of cell (e.g., neural stem-like cells) using a first setof reprogramming agents, whereas another batch comprises a third type ofcell (e.g., bone marrow stromal cells) being reprogrammed to a fourthtype of cell (e.g., dermal hair stem-like cells) using a different setof reprogramming agents. Different batches can therefore besimultaneously subjected to different processing. In practice,sequential processing means also that each processing station on thedeck 910 processes only one batch at a time. A processing station mayprocess a plurality of batches one after the other, in sequence, so longas no more than one batch is open to the environment at a time (e.g.,only cell processing containers 314 from one batch at a time are openedto the environment). One batch will be opened, processed as required,and then closed, before the next batch is opened for processing, etc. Inthis way the plurality of batches may each be at the same or differentsteps or stages of processing, all of the batches being processed in theACPS 100 at the same time but with only one batch at a time open to theenvironment, such that cross contamination between batches is prevented.

By way of illustration, consider an example where three batches areundergoing processing at the same time in the ACPS 100, the ACPS 100having four processing stations. The first batch is introduced into theACPS 100 as described and processing commences. The first batch isprocessed at the first processing station and then placed in theincubator 180. The second batch is then introduced into the ACPS 100,processed at the first processing station, and then placed in theincubator 180. The first batch is then retrieved from the incubator 180and processed at the second processing station and the third processingstation. While the first batch is undergoing processing at the thirdprocessing station, the second batch is retrieved from the incubator 180and brought to the second processing station. However the second batchis held (i.e., not opened) until processing of the first batch at thethird processing station is completed. Once the first batch has beenclosed after processing at the third processing station, then the secondbatch may be opened and processed at the second processing station andthe third processing station.

During processing of the second batch at the second and third processingstations, the third batch is introduced into the system and taken to thefirst processing station, where it will be opened and processed onlyafter the first and second batches are closed (e.g., in the incubator180). The third batch may then be taken straight to the fourthprocessing station for processing, without first being processed at thesecond and third processing stations, depending on the particularprocessing parameters for the third batch. In this way each processingstation processes batches in sequence, one after the other, and eachbatch undergoes a distinct sequence of processing steps, with theprocessing of the batches being coordinated to ensure that only onebatch is open to the environment at a time.

It should be apparent that this sequential processing of batches isdistinct from previous systems in which one batch must be processed tocompletion before processing of another batch can commence. In previoussystems, for example, the first batch is introduced into the system andundergoes processing in its entirety, e.g., processing at the first,second, third, and fourth processing stations until the end product isobtained. The end product for the first batch is released from thesystem before the second batch is introduced into the system; the secondbatch will then be processed to completion until the end product for thesecond batch is released from the system; only after the second batchhas been removed from the system can the third batch be introduced forprocessing; and so on. In such previous systems complete cleaning andsterilization is generally required between batches to prevent crosscontamination, in contrast to sequential processing systems providedhere.

Method

For further understanding of the technology, the ACPS 100 as describedabove is now described with reference to an automated method 2000 forcell processing.

However, it should be understood that this description is provided forillustrative purposes only, and is not meant to be limiting. The ACPS100 may be used for a wide variety of methods including for example cellprocessing and processes for manufacturing biological products such asproteins, antibodies, vaccines, growth factors, tissue matrices, and thelike. Further, the ACPS 100 may be used for other types of cellprocessing than the one illustrated below, such as growth or expansionof cell lines, gene editing, manufacture of induced pluripotent stemcells (iPSCs), embryonic stem cells, and the like. It is contemplatedthat the ACPS 100 may have application in a wide range of such methodsand can be adapted according to the needs of a particular method to beperformed.

In the illustrative example provided here, the ACPS 100 as describedabove is configured to execute an automated method 2000 for transformingcells of a first type into cells of a second type. The automated method2000 described here is an end-to-end method for cell processing, withouthandling by a human operator of any components within the enclosure 110during processing.

With reference to FIG. 28 which shows a flow schematic of the automatedmethod 2000 for cell processing, the automated method 2000 includesintroduction 2100 of the sample into the enclosure 110, automaticallypreparing 2200 the sample after introduction 2100 of the sample,automatically processing (e.g., treating or expanding) 2300 the cellsfollowing sample preparation 2200, automatically harvesting 2400 cellsafter cell processing 2300 and automatically analyzing 2500 during cellprocessing 2300. The method 2000 may also include analysis 2500 of thesample during sample preparation 2200 and before cell processing 2300.The method 2000 may also include analysis 2500 of the sample during orafter harvesting 2400. In addition, the automated method 2000 mayinclude automatically packaging the cells for storage and/or transport2600 after automatically harvesting 2400. Further, the automated method2000 may include quality assurance (QA) 2700 analysis of the sampleand/or review of all executed steps of the automated method 2000 for abatch to determine conformity with pre-determined acceptance criteria.The entire method 2000 from introduction of the sample 2100 to packaging2600 is executed automatically without handling by a human operator.

In the illustrative example provided here, the ACPS 100 receives 2100into the enclosure 110 a sample that is designated as a batch comprisingcells of a first type, and after executing sample preparation 2200 andcell processing 2300 as described below, the ACPS 100 provides as an endproduct, the batch containing cells of a second type in a form ready forshipping and/or storage.

A “batch” as used herein refers to the material, whose derivation startsfrom a particular source, for example, from a particular cell or tissuesample obtained from a patient, a particular cell culture, a particularcell line, etc., that is processed by the ACPS 100 in a particular wayto provide a particular end product. The size of a batch may increaseduring processing as, e.g., cells grow and multiply. For example, abatch may initially comprise one cell processing container 314 of cellsderived from one cell or tissue sample obtained from a patient. Whenprocessing is complete, the same batch may comprise a plurality of cellprocessing containers 314 (for example, 2, 4, 8, 16, 20, 24, 32, etc.),all the cell processing containers 314 in the batch containing cellsderived from the same initial cell processing container 314 andprocessed in the same way. Thus, roughly speaking a batch may refer tothe cells from one patient, or the antibody from one cell line, etc.,depending on the nature of the biological sample being processed. Asused herein, a “biological sample” refers to the starting materials forprocessing. In some embodiments, a biological sample is a cell or tissuesample obtained from a patient. A biological sample is referred to as a“batch” when it has been introduced into the ACPS 100 for processing.Thus each batch is derived from one biological sample.

In some implementations, the ACPS 100 is provided 2100 with a batchincluding isolated cells of the first type. In some implementations, theACPS 100 is provided 2100 with a batch including the cells of the firsttype, in an unisolated form, such as a biopsy taken from a patient. Inthe implementation where the ACPS 100 is provided with unisolated cellsof the first type, an initial sample preparation step 2200 is performed(either within the isolator 120 by a human operator or automaticallywithin the enclosure 110) for obtaining a batch containing the cells ofthe first type in an isolated form, suitable for processing 2300.

The method 2000 includes automatically processing 2300 a batch in theenclosure 110. As will be understood, automatically processing 2300 abatch could involve suspending cells in a cell culture medium in a cellprocessing container 314, adding one or more reagents to the batch atparticular times and in particular amounts, refreshing the cell culturemedium as needed, transferring the batch from a first processing station(for example, a media fill station 420) to a second processing station(for example, a heater 494) and as the cell line divides, passaging thecell culture from one cell processing container 314 into multiple cellprocessing containers 314 for continued processing of the batch.

The method 2000 includes automatically analyzing 2500 one or morecharacteristics of the batch (for example using one or more of the flowcytometer 470, the microscope and plate reader 472, and the like). Thebatch could be analyzed 2500 after completion of automaticallyprocessing 2300 and/or before or during the automatic processing 2300.In some implementations, the method 2000 includes using the results ofanalyzing one or more characteristics to predict a rate of progress ofthe processing, and thereby to determine a time for one or moresubsequent steps of the processing, or a time for completion of theprocessing. In some implementations, the method 2000 includes using theresults of analyzing one or more characteristics to determine one ormore subsequent steps, for example, whether to incubate, passage, applytreatment, etc., to the batch.

The method 2000 also includes automatically harvesting 2400 the batchafter processing 2300 is completed. Automatically harvesting 2400 thebatch as used herein refers generally to preparing the batch for receiptoutside the enclosure 110 or for packaging 2600 or for storage. Thus, insome implementations, the cells are resuspended in fresh media(optionally from one cell culture dish, or a portion of the cells in acell culture dish, put aside and used for Quality Control (QC) analysis)and placed in a suitable container such as a cell culture dish,transport tray 340, cryovial (optionally including controlled ratecryofreezing of the sample), and the like. Once harvested 2400, thebatches are moved out of the enclosure 110 either through the isolator120 or through an access port other than the isolator access port 220.

The method 2000 also includes automatically packaging 2600 the batch forstorage and/or transport. In some implementations, the batch is placedin containers 314 for transport (for example, transport trays 340) or incontainers designed for storage, for example in cryovials 884. In someimplementations, the batch may be frozen and the frozen cryopreservedcells may be transferred onto a frozen cryovial holder that is thenquickly transferred to the isolator 120 where a human user can pick upthe batch and place it into a cryofreezer for storage or in a container(e.g., a LN2 Dry Shipper) for shipment, e.g., to a clinical site, orperform any other step as required. In another implementation, thecryopreserved cells are transferred automatically into a storagecryofreezer, such as the freezer 162 for example. In anotherimplementation, the fresh vialed cells are transferred automatically(for example, via one or more robotic modules of the packaging module950, or by one of the robotic module 600, 700 in the enclosure 110) intoa controlled rate cryofreezer for optimally cryofreezing the cells andthen automatically transferred into a storage cryofreezer for optimalcryopreservation of the cells. In one implementation, these areconnected to the automated packaging module 950 so that cryofrozen cellsare automatically packaged into LN2 containers or dry shippers fortransport and continuously maintaining the cells at an optimaltemperature for optimal cryopreservation until reaching their finaldestination.

Automatic packaging 2600 is optional. Further, in some implementationsharvesting 2400 and packaging 2600 are combined together into one step.For example, the batch may be harvested directly into a cryovial forfreezing and storage. In other implementations harvesting 2400 andpackaging 2600 are separate steps. For example, the batch may beharvested into transport tray 340 which is transferred to the packagingmodule 950 for packaging in a container for shipment.

Automatic quality assurance 2700 is also optional. In someimplementations, quality assurance 2700 may be conducted before, duringor after harvesting 2400 and/or packaging 2600. The entire method 2000executed for a batch is reviewed, from introduction 2100 of sample intothe enclosure 110 to packaging the cells for storage and/or transport2600, to determine if pre-determined acceptance criteria are met. If allthe acceptance criteria are met, the batch is released for shipment orstorage. If not all the acceptance criteria are met, then the batch isflagged, not released for shipment and ultimately discarded in the solidwaste receptacle 156 or another waste area from the packaging module950. In some implementations, quality assurance 2700 can initiateanalysis 2500 for sterility and/or contaminants (such as, endotoxinand/or mycoplasma) using microscope and plate reader 472 or otheranalytical instruments. It is contemplated that other tests desired byquality assurance may be conducted, and that analysis 2500 desired byquality assurance 2700 could be conducted at any stage of the method2000 and as often as desired during the method 2000. In someimplementations, quality assurance 2700 includes preparation of a reportproviding all details of the quality assurance 2700 results, a detailedlisting of every step of the method 2000 and results of analysis 2500executed for a batch, and the like. Such reports may be provided to auser in a variety of forms (e.g., printed, data file, etc.) and are notmeant to be particularly limited. Further, different reports may be madefor different batches depending on the type of processing 2300 requiredand the particular needs of the user. In some implementations, qualityassurance 2700 verifies whether GMP conditions have been met.

While the batches are being processed 2300 in the enclosure 110, thereis no handling of components within the enclosure 110 by a humanoperator. The method 2000 is entirely automated and executable withoutany human intervention. It is however contemplated that a human operatormay monitor the process flow via a user interface 1200 connected to thecontrol unit 1000. In some implementations, the ACPS 100 and the methodallow an authorized human operator to modify or affect one or more ofthe processing steps via the control unit 1000. For example, based onone or more process parameters, a human operator may be able to prolongone or more processing steps, skip one or more processing steps, ortemporarily suspend processing of the batch.

In some implementations, the entire method 2000, from introduction 2100of sample into the enclosure 110 to packaging the cells for storageand/or transport 2600, is entirely automated and executable without anyhuman intervention.

EXAMPLES

The present technology will be more readily understood by referring tothe following examples, which are provided to illustrate the inventionand are not to be construed as limiting the scope thereof in any manner.

Unless defined otherwise or the context clearly dictates otherwise, alltechnical and scientific terms used herein have the same meaning ascommonly understood by one of ordinary skill in the art to which thisinvention belongs. It should be understood that any methods andmaterials similar or equivalent to those described herein can be used inthe practice or testing of the invention.

Example A

I. Introduction of Sample.

Step 1. Transfer tray 322 transfers a biological sample (batch)(e.g., acell, tissue, biological (such as a protein or antibody), or othersample), stored in a cell processing container 314 placed into acontainer holder (for example, tube holder 410, 452) from isolator 120into the enclosure 110. The container holder 410 is transferred by therobotic module 700 from the transfer tray 322 to a pre-determinedlocation on the deck 910 (or into storage area 300 until ready to betransferred on the deck 910)

The remaining description is using a cell or tissue sample (requiringtwo days between replacing of media with fresh media during incubation)as the batch and is for illustration purposes only. A person skilled inthe art will understand how a biological, chemical or other sample canbe processed by the system by reading the descriptions below andthroughout the rest of this application.

II. Sample Preparation.

Step 2. Robotic decapper 830 opens the sample container and pipettor 814uses first pipette tip to determine the volume of sample in the samplecontainer.

If the sample is a tissue requiring enzymatic digestion, the pipettor814 dispenses enzymatic solution with a second pipette tip into thesample container (e.g., cell processing container 314) containing thebatch and the robotic module 700 transfers the sample container onto aheater shaker 494 for enzymatic digestion of the tissue sample into aliquid cell solution. Gripper 816 then transfers the sample containercontaining the enzymatically digested tissue batch to filtration station492 where the batch is vacuum-filtered through one or more (e.g.,several) desired filter pore diameters (e.g., 110 μm followed by 25 μm)to generate a liquefied sample containing starting cells of interest.The cells can be further separated by density gradient separation incentrifuge 150. Vacuum or positive pressure filtering may also be usedto generate micronized tissue homogenates and cells/tissues/materials ofa certain size (having size exclusions), and the like.

If the sample is a cell solution or other solution (or once the sampleis in the form of a solution), the pipettor 814 uses the second pipettetip to collect the sample.

Step 3. Robotic pipettor 814 transfers batch from container 314 intofirst 50 ml centrifuge tube 346 using second pipette tip (in the casewhere the sample was in the form of a solution, and the second pipettetip was used to collect the sample). Robotic dispenser 818, or pipettor814 with a third pipette tip, adds saline, PBS or media into the first50 ml centrifuge tube 346 containing the batch to dilute the batch.

Step 4. Robotic module 600 transfers the first 50 ml centrifuge tube 346containing the batch into centrifuge 150. Centrifuge 150 is controlledby control unit 1000 to centrifuge at 800×g for 15 minutes. Roboticmodule 600 transfers first 50 ml centrifuge tube 346 from centrifuge 150to tube holder on deck 910.

Step 5. Robotic pipettor 814 which can detect minute changes in liquiddensity uses fourth pipette tip to transfer desired liquid layer fromfirst 50 ml centrifuge tube 346 on tube holder 410 into empty second 50ml centrifuge tube 346.

Step 6. Robotic dispenser 818, or pipettor 814 with a fifth pipette tip,adds saline, PBS or media into second 50 ml centrifuge tube 346containing the batch to dilute the batch.

Step 7. Robotic module 600 transfers the second 50 ml tube containingthe batch into centrifuge 150. Centrifuge 150 is controlled by controlunit 1000 to centrifuge second 50 ml tube at 200×g for 10 minutes.Robotic module 600 transfers second 50 ml tube from centrifuge 150 totube holder 410 on deck 910.

Step 8. The robotic aspirator/gripper 812 aspirates the resultingsupernatant from the second 50 ml tube into the liquid waste receptacle158.

Step 9. Robotic dispenser 818, or pipettor 814 with a sixth pipette tip,resuspends the cell pellet by adding 30 ml of saline, PBS or media tothe second 50 ml tube.

Step 10. Robotic module 600 transfers the second 50 ml tube containingthe batch into centrifuge 150. Centrifuge 150 is controlled by controlunit 1000 to centrifuge second 50 ml centrifuge tube 346 at 200×g for 5minutes. Robotic module 600 transfers second 50 ml tubes from centrifuge150 to tube holder 410 on deck 910.

Step 11. The robotic aspirator/gripper 812 again aspirates the resultingsupernatant from the second 50 ml tubes into the liquid waste receptacle158.

Step 12. Robotic dispenser 818, together with pipettor 814 resuspendsthe cell pellet in the desired cell culture media by using a seventhpipette tip to add the desired cell culture media to the second 50 mltubes.

III. Processing (Cell Expansion in this Example).

Step 13. Robotic pipettor 814 dispenses the resuspended cell pellet ontoone or more first cell processing container 314 (for example, a cellculture plate or dish) positioned on a cell processing container stationof the deck 910.

Step 14. Robotic module 700 transfers the first cell processingcontainer 314 from the cell processing container station to theincubator 152 to be incubated for 2 days at 37° C. temperature with e.g.5% CO₂ and 5% O₂.

Step 15. Robotic module 700 transfers one of the first cell processingcontainer 314 to the microscope and plate reader 472 to determine thecell number and/or confluency. If the desired cell number and confluencyhas not been reached, robotic module 700 transfers the first cellprocessing container 314 onto a tilt module 430 on the deck 910. If thecells are an adherent culture, the media is aspirated with the aspirator812 (with a new sterile aspirator tip) and new media added to the cellprocessing container 314 either with the robotic dispenser 818, mediafill station 420, or with pipettor 814 using media from a bottle 838,and the cell processing container 314 is then returned back to theincubator 152. If the cells are a non-adherent culture, the cellsuspension is collected with pipettor 814 using a sterile tip anddispensed into a 50 ml tube that is centrifuged at 200×g for 5 minutesas above, followed by aspiration of the supernatant and resuspension ofthe pellet in fresh media as above, with the resulting cell solutiontransferred to the same or a new cell processing container 314 withpipettor 814 using a new sterile tip, and finally the cell processingcontainer 314 is then returned back to the incubator 152. After furtherincubation for 1 day the cell processing container 314 is analyzed forcell number and/or confluency by the microscope and plate reader 472. Ifthe sample has still not reached the desired cell number/confluency, thesample is returned into the incubator 152 for an additional day. If ithas still not reached the desired cell number/confluency, the abovesteps of from changing the media onwards are repeated until the desiredcell number/confluency is reached.

Step 16. Once the desired cell number and/or confluency has beenreached, robotic module 700 transfers the first cell processingcontainer 314 onto the tilt module 430. If the cells are an adherentculture, the additional steps are performed: the roboticaspirator/gripper 812 removes all or most of the media into the liquidwaste receptacle 158 (which may be collected for downstream processingand purification of an antibody, biological or other protein of interestin the media), the robotic pipettor 814 uses a new sterile pipette tipto pipette a cell dissociation solution (e.g., trypsin) into the firstcell processing container 314, and the robotic module 700 transfers thefirst cell processing container 314 onto the heater and shaker module494 for shaking the first cell processing container 314 while warming to37° C. to activate the cell dissociation solution, the robotic pipettor814 pipettes the cell solution up and down to help dissociate the cellclumps into smaller cell clumps using a new sterile or non-crosscontaminated pipette tip, and finally the robotic pipettor 814, roboticdispenser 818, or media fill station 420 adds media to the first cellprocessing container 314 to neutralize the cell dissociation solution.

Step 17. Robotic pipettor 814 removes the media+cells from the firstcell processing container 314 using a sterile pipette tip and dispensesinto a 50 ml tube (along with a small sample that is transferred to themicroscope and plate reader 472 and/or flow cytometer 470 for cellcount, viability, antibody staining and characterization analysis of thecells, etc.) that is centrifuged at 200×g for 5 minutes as above,followed by aspiration of the supernatant (which may be collected fordownstream processing and purification of an antibody, biological orother protein of interest in the supernatant) or collection withpipettor 814 using a sterile tip for sterility, endotoxin and/ormycoplasma analysis by an appropriate assay in the system (which may beeither inside enclosure 110 or an adjacent contained module to which therobotic module 700 can transfer the sample for analysis).

The cell pellet is then resuspended in fresh media (+supplements (ifapplicable)) from previously introduced vials decapped using Decapper414 and using pipettor 814 with a new sterile pipette tip) as above,with the resulting cell solution transferred to two or more new secondcell processing containers 314 with pipettor 814 using a new sterilepipette tip.

Step 18. Robotic module 700 transfers second cell processing container314 into the incubator 152 for incubation for 2 days.

Steps 15 to 18 are repeated until the desired total number of cells forthe batch has been obtained.

IV. Harvesting.

Step 19. Steps 15 to 17 are repeated. Robotic pipettor 814 resuspendsthe cell pellet either in media suitable for transporting cells andinjects the cells into one or more transport tray 340 placed on tiltmodule 440, or in a cryopreservation solution and injects the cells intoone or more cryovials 884 that are then capped by the Decapper 414 andtransferred to the cryofreezer 460 for controlled rate freezing of thecells for cryopreservation.

V. Storage or Transport.

Step 20. Robotic module transfers transport tray 340 or cryovial 884 tothe packaging module 950. Packaging module 950 boxes and labelstransport tray 340 or cryovial 884 for transport. Packaging module 950can optionally also store the transport tray 340 or cryovial 884.

VI. Quality Control and Quality Assurance.

Step 21. The cell sample from step 17 is analyzed in the microscope andplate reader 472 and/or flow cytometer 470 for pre-determined pass/failcriteria. The supernatant sample from step 17 is analyzed for pass/failcriteria on sterility, endotoxin and/or mycoplasma by the microscope andplate reader 472 or other analytical instrument (which may be inside orconnected to enclosure 110, and is reachable by robotic arm 605, 705 orgripper 816). A separate Quality Assurance control module checks all thesample preparation, processing, harvesting, packaging (and storage, ifapplicable), and analysis steps (e.g., steps 1 to 20 in this example)and results for conformity to pre-determined acceptance criteria; if allthe acceptance criteria are met the batch is released for shipment, ifnot all the acceptance criteria are met the batch is flagged and notreleased for shipment and ultimately discarded in the solid wastereceptacle 156 or another waste area from the packaging module 950.

A. Material Flow

Cell and tissue samples (e.g., obtained from a patient) and all reagentsand consumables, including plasticware (tubes, dishes, trays, etc.), areintroduced into the ACPS 100 through the BSC 130. In the BSC 130 theyare surface cleaned and sterilized, for example with ethanol orisopropanol.

Once the outside surfaces of all incoming materials have been cleanedand sterilized, the sliding gate of the access port 262 of the BSC 130is closed. HEPA-filtered air is allowed to circulate through the BSC 130to decrease the number of particulates in the air inside the BSC 130.After a certain period of time, the isolator connection port 260 of theBSC (and/or the BSC connection port 244 of the isolator 120) is openedand the material from the BSC 130 is transferred into the isolator 120.It should be noted that the access port 262 of the BSC 130 stays closedwhenever the isolator connection port 260 is open and vice versa.

Once materials are placed inside the isolator 120, the outer protectivepouch of sterilized materials is opened (if applicable). Materials areplaced on pre-designated trays which are placed on the transfer trays322 to be passed through the enclosure access port 240 and isolatoraccess port 220 of the enclosure 110 into the enclosure 110. Somematerials could be placed on a transfer tray 322 directly without beingplaced on predesignated trays. Inside the enclosure 110, the robotic arm705 of the robotic module 700 picks up and sorts all the materials onthe trays 322. The enclosure 110 provides an enclosed, sterile/asepticenvironment in which all cell processing steps are performed roboticallyor automatically, without human or hands-on intervention. In some cases,materials received in very large containers are poured into smallersterile containers that are then placed on the pre-designated traysand/or transfer trays 322. The screw caps of some containers may need tobe loosened a little, while the caps of other containers may be removedcompletely, before being placed on the pre-designated trays. Cellculture media and other high volume materials (such as phosphatebuffered saline (PBS)) that are introduced into the isolator 120 inlarge media bags are typically placed in the +4° C. refrigerator andclipped onto designated media lines for being pumped and heated asneeded by media-fill stations 420 in the enclosure 110. In some cases,media bags are clipped onto designated media lines in the isolator 120,and then moved into +4° C. refrigerator adjacent to the isolator 120 forstorage; media can then be filled in the media fill station 420 directlyfrom the media bags in the refrigerator via the media lines (i.e.,tubes).

Once in the enclosure 110, the pre-designated trays are stored either:(i) in racks 332 inside the enclosure 110 at ambient enclosure air (thiswill predominantly consist of plasticware such as plates, pipette tips,and tubes); (ii) at +4° C. (this predominantly consists of variousreagents and media in smaller volumes); or (iii) at −20° C. in thefreezer 154 (this predominantly consists of various reagents such asmedia supplements and antibodies for analysis).

It is noted that in some implementations, finished products in enclosedcontainers (e.g., a batch of cells for which processing is complete) areremoved from the enclosure 110 in the reverse order in which they wereintroduced, e.g., in the reverse order from what is described above forentry into the enclosure 110. In other implementations, finishedproducts (i.e., finished batches) in enclosed containers leave theenclosure 110 from an access port other than the isolator connectionport 220 described above. For example, rather than exiting through theisolator 120 and the BSC 130, finished products may exit into a freezer(such as the freezer 180 of FIG. 17) or through another accessport at aseparate location.

During cell processing, liquid waste is generally removed by a liquidaspiration system (robotic aspirator/gripper 812) that uses steriledisposable tips 870. In addition, the inside passages of the tube 868and liquid waste lines can be sterilized with ethanol and bleached bythe robotic processing systems inside the enclosure 110. Solid waste isplaced into the negative pressure waste receptacle 156 (pressure isnegative relative to the enclosure 110). The negative pressure solidwaste receptacle 156 continuously pushes air through a HEPA filter intothe room (or into the building's HVAC return duct), thus preventingparticles from migrating from the solid waste receptacle 156 back intothe enclosure 110. Both the solid and liquid waste receptacles can beremoved and replaced directly by persons in the room in which the systemis located. A safety mechanism ensures that a solid or liquid wastecontainer cannot be removed unless the opening between the wastecontainer and the enclosure 110 is sealed, in order to prevent any entryof air or particles from the room into the Enclosure 110 during wasteremoval.

In some implementations, the enclosure 110 has a Class 10 or higherenvironment, and is at positive pressure relative to the Isolator 120and/or the solid waste receptacle 156. The isolator 120 is at positivepressure relative to the BSC 130. The BSC 130 and the solid wastereceptacle 156 are at positive pressure relative to the room. The liquidwaste receptacle 158 is under vacuum and segregated by liquid linetubes, and is under negative pressure relative to the enclosure 110 andthe room. The incubator 152 is sealed from the enclosure 110 and atslight negative pressure relative to the enclosure 110 when open.Further, in some implementations the incubator 152 may be constructed ina way that prevents contamination (e.g., with a full copper alloychamber to inhibit microbial growth, with HEPA filters, with a sterilewater vapour generator instead of a water pan placed inside, and thelike).

In some implementations, the enclosure 110 and isolator 120 may befurther sterilized by hydrogen peroxide (H2O2) vapor using thesterilization unit 550, while the cells are protected inside theincubator 152. The incubator 152 can also be sterilized, for exampleusing ClO2 gas, while the cells are in a secondary incubator or in theenclosure 110.

The step-wise movement of materials into and out of the ACPS 100 incombination with the built-in interlock systems for preventing operatorerror, is designed to prevent contamination from the outside environmentor on the surface of materials and items introduced into the ACPS 100.All introduced items introduced into the ACPS 100 are either inside of asterile container such as a bag, or the outside surfaces are asepticallywiped down and cleaned before introduction into the ACPS 100. The itemsthen go through an air environment cleaning cycle in the BSC 130, afterwhich items are transferred from the BSC 130 into the isolator 120. Inthe isolator 120, the sterile/aseptic items are loaded onto sterilecustom containers that are then transferred into the enclosure 110.Inside the enclosure 110, all items are handled robotically.

B. Robotic Manufacturing Process Flow.

After entry into the enclosure 110, the batch (i.e., the liquid cell ortissue sample introduced into the enclosure 110) is transferred into 50ml centrifuge tubes 346 that have a separation membrane and arepre-loaded with a density gradient medium (e.g., histopaque at density1.077 g/ml, available commercially as Lymphoprep™ Tube, Axis-shield cat.#1019817 or 1019818, also provided by STEMCELL Technologies Inc.,Vancouver, Canada) for density gradient separation of the starting cellsof interest. As an example, if Lymphoprep™ Tube is used, the batch isdiluted 1:1 in saline or PBS and 30 ml of the diluted batch is pipettedinto the Lymphoprep™ Tube, and then centrifuged in the centrifuge 150 at800×g for 15 mins.

It is noted that the robotic pipettors 814 can detect the volume ofliquid in the original batch (i.e., the liquid cell or tissue sampleintroduced into the enclosure 110), allowing determination of theappropriate volume of saline, PBS or other desired solution with whichto mix the batch, using a built-in algorithm, as well as splitting thetotal volume after mixing into the required number of Lymphoprep™ Tubes.Mix volumes and the number of required tubes are generally determinedusing the following equation: TOTAL VOLUME/30 ML rounded up to the nextwhole NUMBER; this number is then used to calculate the volume for eachtube by the equation: TOTAL VOLUME/NUMBER.

In some implementations, a batch introduced into the ACPS 100 thatcomprises a tissue sample may be enzymatically digested first, and thenvacuum-filtered through one or more (e.g., several) desired filter porediameters (e.g., 110 μm followed by 25 μm) to generate a liquefiedsample containing starting cells of interest for density gradientseparation. Vacuum filtering may also be used to generate micronizedtissue homogenates, cells/tissues/materials of certain size (having sizeexclusions), and the like.

After density gradient centrifugation, the desired liquid layer istransferred into an empty 50 ml centrifuge tube 346, either by therobotic pipettor 814 which can detect minute changes in liquid densityor by transferring the entire liquid on top of the Lymphoprep™ Tubemembrane. The liquid layer is then diluted 1:1 in saline or PBS andcentrifuged at 200×g for 10 mins. The resulting supernatant is aspiratedinto the liquid waste receptacle 158, and the cell pellet is resuspendedin 30 ml of saline or PBS and then centrifuged at 200×g for 5 mins.Again the resulting supernatant is aspirated into the liquid wastereceptacle 158, and the cell pellet is resuspended in the desired cellculture media and plated onto one or more a cell processing container314 (such as, e.g., cell culture plate or dish). The cell processingcontainers 314 are then placed into the incubator.

In the final resuspended cell pellet, the total number of live cells aswell as the number of desired cells in the batch can be estimated usingeither the microscope 472 or the flow cytometer 470, allowing the use ofan algorithm to determine appropriate dilution of the resuspended cellpellet and the number of cell culture dishes on which the resuspendedcell pellet(s) should be plated.

It is noted that the desired cell culture media may be either pumpedfrom the media fill station onto the cell culture dishes (or pipettedfrom one), or pipetted from a media bottle that is pre-warmed to adesired temperature (e.g., 37° C.) by the on-board media heaters. Themedia can also be supplemented by desired cytokines and othersupplements that are stored on board and pipetted at the requiredconcentration into the media bottle or media troughs, or directly ontothe cell processing container 314.

Cell culture media may be partially or fully replaced at set timepoints. This typically consists of moving (by the robotic module 600) acell processing container 314, e.g., plate, from the incubator 152 ontothe deck 910, preferably onto a tilt module 440, removing the lid, andaspirating the old media into liquid waste receptacle 158 using therobotic aspirator 872 and/or robotic pipettor 814. The cell processingcontainer 314 is then moved onto the media fill station 420 and filledwith the desired amount of fresh media. Any required supplements areadded by the robotic pipettors 814. The lid is then placed back on thecell processing container 314 and the cell processing container 314 ismoved back into the incubator 152.

Cells can be purified or selected using standard techniques known in theart. For example, cells may be purified or selecting using magnetic cellselection or a cell sorter, e.g., with antibodies that either target thedesired cells or the non-desired cells. As an example of magnetic cellseparation, an antibody with an attached iron or similar core is addedto floating cells that are placed in a cell processing container 314(for example, tube or flask or in a cell culture tray 344, 344′), afterwhich the cell processing container 314 (which may be, e.g., a tube,flask, or plate) is placed on a magnetic tilt module 430 provided withan adequately strong magnet 434 that pulls all the cells to the bottomof the cell processing container 314 (e.g., to the bottom of a plate,and/or the sides of a tube or flask, etc.). For example, an antibodywith an attached iron core that recognizes a neural marker such as Sox2or Nestin can be used to select for neural stem cells aftertrypsinization of all adherent cells. The media with the remaining cellsis then aspirated to the liquid waste receptacle 158 from the cellprocessing container 314 such that the desired cells remain in cellprocessing container 314. The cell processing container 314 is thenremoved from the magnet. The cells are resuspended in fresh media andplated and grown in a cell processing container 314. Alternatively, theprocedure may be used for cell depletion in a mixed cell populationwhereby an antibody is used for recognizing cells that are desired to beremoved, and instead of aspirating the media with the cells into thewaste, the media with the cells is collected and plated directly into acell processing container 314. In some implementations, the magnet maybe placed on a tilt module 440 that allows better removal of the mediawith non-magnetically attached cells.

Cells can be transformed or reprogrammed with, e.g., a DNA plasmid, anRNA, a protein, a small molecule, or another reprogramming agent. In theexample of a DNA plasmid, the DNA plasmid may be mixed with a lipidcocktail (e.g., Lipofectamine LTX & Plus reagent, Invitrogen) or amagnetic transfection kit (e.g., a Magnetofection kit such as LipoMag,Oz Biosciences), and then added to the cells (optionally in media, orthe media may be added afterwards). The media with the DNA-lipid complex(with or without the magnetic iron or other particles) is then removedand replaced with fresh media after the desired number of hours, andthen placed back into the incubator.

In some cases, supplements are frozen and/or stored at −20° C. in thefreezer 154. In this case they may be moved out of the freezer 154,thawed inside the enclosure 100, and then uncapped for access by thepipette tips before the cell culture media replacement process starts.

In some implementations, an on-board particle counter 190 ensures thatthe air environment is adequately clean, or essentially sterile/asepticbefore any processing step is performed on a batch of cells (e.g., on acell culture dish). This monitoring of the air environment by theparticle counter 190, and coordination of cell processing and airmonitoring, serves to prevent contamination, especiallycross-contamination between batches. Furthermore, all components thatcome into contact with cells or media are designed to be kept sterile.This is achieved partly by use of sterile disposable parts that arereplaced between processing of each batch; the remaining parts either donot come into contact with a batch or are sterilized each time beforecoming into contact with each batch. These procedures also serve toprevent contamination, especially cross-contamination between batches,and to maintain aseptic processing conditions at all times.

In some implementations, a cell culture dish of adherent cells may beobserved by a robotic microscope before media replacement to determinethe % confluency and morphology and health of the cells (e.g., as anin-process control). If the % confluency is above a certain value, e.g.,above about 80%, then the Passaging protocol will be initiated instead(described in further detail below).

For floating cultures, the on-board flow cytometer 470 may be used todetermine the cell number, viability and even the identity of the cellsusing fluorescent staining (as an in-process control). If the cellnumber per dish is above a certain value, e.g., above about 10 millioncells, then the Passaging protocol will be initiated (described infurther detail below).

When the on-board microscope 472 determines that the adherent cells areabove a certain % confluency, e.g., above about 80% confluency, or theflow cytometer determines that the floating cells are above a certainnumber, e.g., above about 10 million cells, then the Passaging protocolwill be initiated. Passaging generally involves dividing the cells inthe cell culture dish into two or more cell culture dishes.

For floating (i.e., non-adherent) cultures, passaging may involve simplyremoving a portion (e.g., half) of the media containing the cells in thecell processing container 314 with a pipette 814 and then pipetting theremoved media+cells into a fresh cell processing container 314. Forexample, ¾ of the media+cells may be removed, and each ¼ may then bepipetted into a fresh cell processing container 314, with each cellprocessing container 314 then being filled with an adequate amount offresh media (including any required supplements, which may be added inthe media, or added separately). A more complex protocol may be used inthe case of cell clumps, involving tilting the cell processing container314 and removing all the media with cells by pipette, transferringmedia+cells to a 50 ml centrifuge tube 346, centrifuging to pellet thecells (e.g., at 200×g), removing the supernatant with the aspirationtool into waste, resuspending the cell pellet in a cell dissociationsolution (e.g., trypsin, Accutase®, or other cell detachment solution)with optionally warming the tube and either shaking or spinning the tubeor pipetting the cell solution up and down to help dissociate the cellclumps into smaller cell clumps or individual cells, then neutralizingwith media, and either plating this into two or more cell culture dishesor centrifuging one more time, removing the supernatant with theaspiration tool into waste, resuspending the cell pellet in media, andthen plating the cells into two or more cell culture dishes. Anyadditional media and supplements can then be added additionally intoeach cell processing container 314 (if applicable) before moving thecell processing containers 314 into the incubator 152.

For adherent cultures, the cell processing container 314 is placed ontothe tilt module 440, all or most of the media is removed with theaspiration tool into waste, a cell dissociation solution (e.g., trypsin,Accutase®, etc.) is pipetted into the cell processing container 314which is then placed onto the shaker with optionally warming the cellprocessing container 314 and or pipetting the cell solution up and downto help dissociate the cell clumps into smaller cell clumps orindividual cells, then neutralizing with media, and either plating thisinto two or more cell processing container 314 or pipetting into a 50 mltube and centrifuging, removing the supernatant with the aspiration toolinto waste, resuspending the cell pellet in media, and then plating thecells into two or more cell processing container 314. Any additionalmedia and supplements can then be added additionally into each cellprocessing container 314 (if applicable) before moving the cellprocessing containers 314 into the incubator 152.

When the desired total number of cells has been obtained for a batch,the cells for that batch are Harvested. Harvesting involves eithermoving all the cell processing containers 314 (optionally except forone, which is used for Quality Control (QC) analysis) for a batch out ofthe system to a human recipient or to another robot (either before orafter the Passaging protocol above), or initiation of the Passagingprotocol above up to the step just before the cells are resuspended infresh media (again, optionally with one cell processing container 314,or a portion of the cells in a cell processing container 314, put asideand used for Quality Control (QC) analysis). In the latter case, thePassaging protocol is either (i) continued to the step just beforeplating the cells into the cell processing containers 314 (either usingthe same or a different media, supplements and/or concentrations), withthe cells then injected into transport trays 340 (e.g., Petaka cellculture cassettes) or another transportable cell culture system; or (ii)the cell pellet is resuspended in a cryopreservation solution, pipettedinto cryovials 884 and placed onto a temperature controlled cryofreezer460 (such as a Grant EF600M Controlled Rate Freezer), optionally with nocaps to allow nucleation to be performed with a small sterile pipettetip from the −20° C. freezer; cryovials 884 are then capped at the endof the freezing process, and the frozen cryopreserved cells aretransferred into a cryofreezer 460. Alternatively, the frozencryopreserved cells may be transferred onto a frozen cryovial holderthat is then quickly transferred to the isolator 120 where a human usercan pick up the batch and place it into a cryofreezer (for examplecryofreezer 162) for storage or in a container (e.g., a LN2 Dry Shipper)for shipment, e.g., to a clinical site, or perform any other step asrequired.

C. Robotic Quality Control Process Flow.

Various analytical assays can be performed on the cells, cell cultures,conditioned media and reagents using the on-board microscope 472, flowcytometer 470 and/or plate reader 472. Non-limiting examples of suchanalytical assays are described here:

Cell confluency. Cell confluency can be analyzed by the on-boardmicroscope to trigger cell passaging when the cells are at the desiredconfluence, e.g., above about 80% confluency. Correct cell morphologycan also be analyzed by the on-board microscope as an in-process and/orend-process quality control (QC) read-out.

Cell number and viability. Cell number and viability as well as livecell markers can be rapidly analyzed by the on-board flow cytometer,which can be used at each passage for in-process QC (i.e., aftertrypsinization) and/or as an end-process QC read-out. Cell counts andcell confluency can be used by the on-board software to calculate thegrowth curves of the cells that can predict the time of the nextpassaging and when the desired number of cells (in total) will be readyat the end of the process.

Cell diameter, density, and marker expression. The flow cytometer cananalyze cell diameter and cell density along with specific cell markerexpression. For example, fluorescent live stains or antibodies can beused to identify the desired cells and to determine the purity of thebatch (e.g., by determining what percentage of the cells and/orparticles are the desired cells). These assays can be performed as anin-process and/or an end-process QC read-out.

Cell potency and identity. A sample of the cells in a batch can beplaced in other media and/or other conditions to determine theirbehavior, either as a potency or identity assay using the on-boardmicroscope and software algorithms. For example, neural stem cells canbe placed in differentiation media and differentiated into neurons,astrocytes and oligodendrocytes, and the lengths of the axons of theresulting neurons can be measured.

Safety. Assays to determine safety, such as a tumor-colony formationassay, can be performed and analyzed using the on-board microscope andsoftware algorithms.

Other assays. Endotoxin, mycoplasma and sterility in-process andend-process QC read-out assays can be performed using the plate reader,along with numerous other assays such as, e.g., assays for proteinquantification and for telomerase activity.

Karyotype analysis can be performed using the on-board microscope 472with a spectral camera and a software algorithm.

Gene integration and short tandem repeat (STR) analysis can be performedusing an on-board PCR machine (not shown) and the plate reader 472.

D. Robotic Reagents Process Flow.

All reagents enter the enclosure 110 through the BSC 130 and theisolator 120 as described above. In some implementations, reagents arerobotically introduced into the enclosure 110 from the isolator 120.Reagents are aliquoted into smaller volumes and placed into vials insidethe enclosure 110. Generally an aliquot corresponds to the amount ofreagent required for a certain time period, for a certain assay, or fora single use. For example, reagents may be aliquoted into smallervolumes required per day, per assay, and the like. Aliquoted reagentsare stored as appropriate, for example they may be placed in the freezer154 at −20° C. or a −86° C. on-board freezer, in a +4° C. on-boardrefrigerator or other cooling location, or may be stored at roomtemperature, as needed.

In some implementations, reagents are introduced into the enclosure 110in the containers received from the manufacturer, and robotically openedand aliquoted, without ever being opened by a human operator.

Reagents can be filter sterilized by the on-board 0.22 μm sterilefiltration system 492 prior to being aliquoted or prior to being addedto cells or media.

It is noted that fluorescent antibodies and stains, and any other lightsensitive materials, are handled while the lights are turned off insidethe enclosure 110.

When frozen aliquots are to be used, they are moved out of the freezer154 and placed on the deck 910 at room temperature to thaw slowly, orplaced on heaters for faster thawing and/or warming or placed onshaker-heaters for even faster thawing and/or warming, as desired. Onceready, the caps of the container storing the frozen aliquots are removedby the decapper (generally using the robotic aspirator/gripper 812 for0.5-4 ml vials, and using the decappers 830 for 50 ml tubes, 100 ml or125 ml flasks and the like), and the desired volume is then retrievedusing the robotic pipettor 814.

As mentioned above, many reagents are directly filled from reagentsupply containers stored within the enclosure 110 into cell processingcontainers 314 within the enclosure 110 using the robotic pipettor 814.Direct aliquoting and long term storage of reagents within the enclosure110 obviates the need for continuous introduction of reagent containersinto the enclosure 110 and the ability to quality control and store alarge batch of a reagent thus reducing quality control time and costover e.g., a two-year period for reagents.

Also, many solutions are directly filled from solution supply containersstored outside the enclosure 110 into cell processing containers 314within the enclosure 110 using a media fill line connected to media fillstations 420 and the robotic pipettor reagent dispenser 818. Directfilling of solutions obviates the need for storage of additionalsolution containers within the enclosure 110 and the need for theirperiodic refilling.

Robotic handling of reagents as described above aids in reducing therisk of contamination and cross contamination between batches.

Reagents and chemicals can be processed at the same time as cells aslong as the reagents and chemicals will not come in contact with othercells. In other to avoid cross-contamination between batches, the ACPS100 is designed to allow cell processing of only one batch at a time,e.g., only cell processing containers 314 for one batch can be open atany given time. Similarly, reagents and chemicals are processed at thesame time as a batch of cells only if the reagents and chemicals willnot come in contact with other batches, otherwise reagents and chemicalsmust only be processed when no cell processing containers 314 are openor undergoing processing, to avoid cross-contamination.

E. Summary.

The methods and systems described above may have one or more of theadvantages discussed here.

First, the methods and systems may prevent or avoid contamination,including contamination from infectious agents such as endotoxins,mycoplasma, microbes, viruses, etc. The system is designed to provideseveral layers of separation between the essentially sterile/asepticenclosure 110 and the exterior, provided by the isolator 120 and the BSC130. Consumables such as reagents, media, plasticware and the like canthus be resupplied to the enclosure 110 via the isolator 120 and the BSC130 without disturbing the sterility of the enclosure 110. Air flows inthe ACPS 100 are designed to push particles and contaminants out andaway from processing stations. Continuous monitoring by on-boardparticle counters 190 and automatic pausing of processing should apredetermined level be reached also ensures that processing steps areonly performed under essentially sterile/aseptic conditions. In someimplementations, end-to-end processing is capable of being performedwithout hands-on human intervention inside the enclosure 110. In someimplementations, the design ensures sterility to such an extent that theACPS 100 need not be operated inside a cleanroom.

Next, the methods and systems are designed to preventcross-contamination between batches. Batches are processed sequentially,under conditions where no more than one batch is “open” or undergoingprocessing at the same time (i.e., only cell processing containers 314from one batch at a time are opened to the environment). Further, eitherdisposable sterile equipment (such as pipette tips) is used or equipmentis sterilized between processing of each batch. Particle counters 190may continuously monitor particle number within the enclosure 110, andif at any time the particle number rises above the acceptable threshold,then processing is paused until the number of particles returns to anacceptable level. Waste receptacles 156, 158 may be placed away fromcell processing stations (i.e., stations where cell processingcontainers 314 are opened to the environment) and may be configured soas to prevent any splash-back or other contamination from the waste backinto the cell processing containers 314, the reagents, or any part ofthe enclosure 110. In these ways, the design of the system may preventor avoid cross-contamination between batches. This design also allowsthe ACPS 100 to manage a plurality of batches within the ACPS 100 at thesame time through sequential processing and without cross-contaminationbetween batches. In some implementations, the ACPS 100 is designed tohave the capability of processing a plurality of batches within the ACPS100 at the same time under GMP conditions, i.e., under conditions suchthat GMP guidelines and regulations are met.

Further, in some implementations, the ACPS 100 is capable of providingend-to-end processing in an essentially sterile/aseptic enclosurewithout hands-on human intervention. This may provide a high speedand/or efficiency of processing at an affordable cost.

In addition, in some implementations the ACPS 100 is capable ofproviding quality control (QC) and quality assurance (QA) data andinformation required for GMP guidelines and regulations. In someimplementations, quality assurance (QA) of the end product and/or endproduct release is performed without requiring a human operator. In someimplementations, the product is stored after completion of QC and QAwithout requiring a human operator.

Modifications and improvements to the above-described embodiments of thepresent invention may become apparent to those skilled in the art. Theforegoing description is intended to be exemplary rather than limiting.The scope of the present invention is therefore intended to be limitedsolely by the scope of the appended claims.

The contents of all documents and references cited herein are herebyincorporated by reference in their entirety.

What is claimed is:
 1. A system for automated processing of batches, thebatches being derived from biological samples, comprising: a closed andsterile enclosure; at least one station within the enclosure for holdinga plurality of reagent containers; at least one robotic reagentdispenser within the enclosure; a quality control module within theenclosure for analyzing at least one characteristic of a batch; aharvesting module within the enclosure; a robotic module within theenclosure; and a control unit (CU) communicatively coupled to the atleast one reagent dispenser, the quality control module, the harvestingmodule and the robotic module for controlling said automatic processingof said batches, said automatic processing being executable withouthandling by a human operator.
 2. The system of claim 1, furthercomprising a particle counter communicatively coupled to the CU formeasuring a particle count inside the enclosure.
 3. The system of claim1 or 2, further comprising: an air flow system for controlling an airpressure inside the enclosure to be greater than an air pressure outsidethe enclosure.
 4. The system of any one of claims 1 to 3, wherein theenclosure is at least a class 10 environment.
 5. The system of any oneof claims 1 to 4, wherein: the enclosure is defined at least in part bya plurality of walls including a top wall, a first side wall and asecond side wall extending opposite the first side wall; the enclosurehas an air inlet port defined in one or more of the plurality of wallsof the enclosure; the enclosure has an air outlet port defined in one ormore of the plurality of walls of the enclosure, the air flow systembeing configured to direct air flow into the enclosure via the air inletport and air flow out of the enclosure via the air outlet port, an airflow within the enclosure being laminar.
 6. The system of any one ofclaims 1 to 5, wherein the system complies with good manufacturingpractice (GMP) guidelines.
 7. The system of any one of claims 1 to 6,further comprising a tracking module communicatively coupled to the CUfor electronically tracking the batch after its introduction to theenclosure.
 8. The system of any one of claims 1 to 7, wherein: the CU isconfigured to control automatic processing of batches based on a signalreceived from the quality control module.
 9. The system of any one ofclaims 1 to 8, wherein the batch comprises a plurality of batches, thesystem being configured to automatically process the plurality ofbatches without cross-contamination between batches.
 10. The system ofclaim 9, wherein each of the at least one reagent dispenser, the qualitycontrol module, the harvesting module, and the robotic module isconfigured to operate on any one of a first batch and a second batchsuch that: when the first batch is being operated on by one of the atleast one reagent dispenser, the quality control module, the harvestingmodule, and the robotic module, the second batch is being operated on byan other of the at least one reagent dispenser, the quality controlmodule, the harvesting module, and the robotic module.
 11. The system ofclaim 9, further configured to: receive a second batch into theenclosure before a first batch is transported out of the enclosure; andsequentially process each of the first batch and the second batchwithout cross contamination from the other of the first batch and thesecond batch.
 12. The system of claim 11, further comprising a particlesensor communicatively coupled to the CU for measuring a particle countinside the enclosure, wherein: the CU is configured to allow receivingof the second batch into the enclosure responsive to the particle countsatisfying a predetermined criterion.
 13. The system of claim 11 or 12,further comprising: an automatic sterilizing module communicativelycoupled to the CU for automatically sterilizing the enclosure beforeinserting the second batch into the enclosure.
 14. The system of any oneof claims 1 to 13, further comprising: a waste receptacle selectivelyfluidly connected to the enclosure at a location remote from a center ofthe closed enclosure. 14A. The system of any one of claims 1 to 13,further comprising: a waste receptacle selectively fluidly connected tothe enclosure in a configuration that prevents particles in the wastereceptacle from entering the enclosure.
 15. The system of claim 14 or14A, wherein an air pressure in the waste receptacle is controlled to belower than an air pressure inside the enclosure.
 16. The system of claim14, 14A or 15, wherein the enclosure is connected to the wastereceptacle by a conduit configured to prevent backsplashing of wastematerial deposited into the conduit for disposal into the wastereceptacle.
 17. The system of any one of claims 1 to 16, furthercomprising: an incubator selectively fluidly connected to the enclosure;and a gate between the enclosure and the incubator being configured tobe open for automatic transferring of the batch from the enclosure tothe incubator and for automatic transferring of the batch from theincubator to the enclosure, the enclosure being fluidly connected to theincubator when the gate is open and the enclosure being sealed from theincubator when the gate is closed.
 18. The system of any one of claims 1to 17, further comprising: a centrifuge selectively fluidly connected tothe enclosure; and a gate between the enclosure and the centrifuge beingconfigured to be open for automatic transferring of the batch from theenclosure to the centrifuge and for automatic transferring of the batchfrom the centrifuge to the enclosure, the enclosure being fluidlyconnected to the centrifuge when the gate is open and the enclosurebeing sealed from the centrifuge when the gate is closed.
 19. The systemof any one of claims 1 to 18, wherein the robotic module comprises aplurality of robotic modules.
 20. The system of any one of claims 1 to19, wherein the robotic module is configured for at least one of:transporting a container; decapping or otherwise opening the container;pipetting a reagent or liquid from the container; and aspirating liquidfrom the container. 20A. The system of claim 20, wherein the liquid iscell culture media.
 21. The system of any one of claims 1 to 20A,wherein one of the plurality of reagent containers is placed outside ofthe enclosure and connected to one of the at least one reagentdispensers by a fill line.
 22. The system of any one of claims 1 to 21,further comprising a tilt module configured to tilt a container.
 23. Thesystem of claim 22, wherein the tilt module is a magnetic tilt modulefor separating magnetically tagged contents in the container frommagnetically untagged contents of the container while tilting thecontainer.
 24. The system of any one of claims 1 to 23, wherein thequality control module is one of: a flow cytometer; a plate reader; amicroscope; and a PCR machine.
 25. The system of any one of claims 1 to24, wherein the quality control module comprises a plurality of qualitycontrol modules.
 26. The system of any one of claims 1 to 25, whereinthe harvesting module comprises at least one of: a container for holdinga solution; a freezer or a cryofreezer; and a packaging moduleconfigured to place the batch in a transport container.
 27. The systemof any one of claims 1 to 26, further comprising an isolator, theenclosure being selectively fluidly connected to the isolator, andobjects from outside the system being received into the enclosure viathe isolator, and/or objects from inside the enclosure being passed outof the system via the isolator.
 28. The system of claim 27, wherein: anair pressure inside the enclosure is greater than an air pressure in theisolator; and an air pressure inside the isolator is greater than an airpressure adjacent to the isolator in a direction other than theenclosure, or an ambient air pressure outside the system.
 29. The systemof claim 27 or 28, further comprising a biological safety cabinet (BSC),the isolator being selectively fluidly connected to the BSC, and objectsfrom outside the system being received into the isolator via the BSC,objects from inside the enclosure being passed out of the system bypassing from the enclosure to the isolator and from the isolator to theBSC via the isolator.
 30. The system of any one of claims 1 to 29,further comprising: one or more of a refrigerator and a freezerselectively fluidly connected to the enclosure; and a gate between theenclosure and the one or more refrigerator or freezer being configuredto be open for automatic transferring of the batch from the enclosure tothe freezer and for automatic transferring of the batch from the one ormore refrigerator or freezer to the enclosure, the enclosure beingfluidly connected to the one or more refrigerator or freezer when thegate is open and the enclosure being sealed from the one or morerefrigerator or freezer when the gate is closed.
 31. The system of anyone of claims 1 to 30, wherein: the enclosure is a first enclosure; theplurality of reagent containers is a plurality of first reagentcontainers; at least one reagent dispenser is an at least one firstreagent dispenser; the quality control module is a first quality controlmodule for analyzing at least one characteristic of a first batch; theharvesting module is a first harvesting module; and the robotic moduleis a first robotic module; the system further comprising: an incubatordisposed outside the first enclosure, the first enclosure beingselectively fluidly connected to the incubator; a second closed andsterile enclosure selectively fluidly connected to the first enclosureor to the incubator; a plurality of second reagent containers; at leastone second reagent dispenser; a second quality control module foranalyzing at least one characteristic of a second batch; a secondharvesting module; and a second robotic module, the CU beingcommunicatively coupled to the at least one first and second reagentdispenser, the first and second quality control module, the first andsecond harvesting module and the first and second robotic module forcontrolling automatic processing of the first and second batches withouthandling by a human operator.
 32. The system of any one of claims 1 to30, wherein the system is selectively fluidly connected to a secondsystem for automated processing of batches derived from biologicalsamples, the second system comprising: a second closed and sterileenclosure; a second plurality of reagent containers; a second at leastone reagent dispenser; a second quality control module for analyzing atleast one characteristic of a batch; a second harvesting module; asecond robotic module; and a second control unit (CU) communicativelycoupled to the at least one reagent dispenser, the quality controlmodule, the harvesting module and the robotic module for controllingsaid automatic processing of said batches, said automatic processingbeing executable without handling by a human operator; the CU and thesecond CU optionally being communicatively coupled to each other. 33.The system of claim 32, wherein the system and the second system areselectively fluidly connected via a second freezer or a secondincubator, the second freezer or the second incubator being disposedoutside both the enclosure and the second enclosure and beingselectively fluidly connected to each of the enclosure and the secondenclosure.
 34. A system for automated processing of a plurality ofbatches, the batches being derived from biological samples, comprising:a closed and sterile enclosure; a plurality of reagent containers withinthe enclosure; at least one reagent dispenser within the enclosure; aquality control module within the enclosure for analyzing at least onecharacteristic of a batch; a harvesting module within the enclosure; arobotic module within the enclosure; and a control unit (CU)communicatively coupled to the at least one reagent dispenser, thequality control module, the harvesting module and the robotic module forcontrolling said automatic processing of said batches, the system beingconfigured to automatically process the plurality of batches withoutcross-contamination between batches.
 35. The system of claim 34, whereinthe system is configured to automatically process the plurality ofbatches at the same time using sequential processing.
 36. The system ofclaim 34 or 35, wherein the system is configured to automaticallyprocess the plurality of batches in compliance with good manufacturingpractice (GMP) guidelines.
 37. The system of any one of claims 34 to 36,wherein said automatic processing is executable without handling by ahuman operator.
 38. The system of any one of claims 34 to 37, furthercomprising a particle counter communicatively coupled to the CU formeasuring a particle count inside the enclosure.
 39. The system of anyone of claims 34 to 38, further comprising: an air flow system forcontrolling an air pressure inside the enclosure to be greater than anair pressure outside the enclosure.
 40. The system of any one of claims34 to 39, wherein the enclosure is at least a class 10 environment. 41.The system of any one of claims 34 to 40, wherein: the enclosure isdefined at least in part by a top wall, a first side wall and a secondside wall extending opposite the first side wall the enclosure has anair inlet port defined in a top wall; the enclosure has an air outletport disposed in each of the first and second side walls, the air flowsystem being configured to direct air flow into the enclosure via theair inlet port and air flow out of the enclosure via the air outletport, an air flow within the enclosure being laminar.
 42. The system ofany one of claims 34 to 41, wherein the system complies with goodmanufacturing practice (GMP) guidelines.
 43. The system of any one ofclaims 34 to 42, further comprising a tracking module communicativelycoupled to the CU for electronically tracking the batch after itsintroduction to the enclosure.
 44. The system of any one of claims 34 to43, wherein: the CU is configured to control automatic processing ofbatches based on a signal received from the quality control module. 45.The system of any one of claims 34 to 44, wherein each of the at leastone reagent dispenser, the quality control module, the harvestingmodule, and the robotic module is configured to operate on any one of afirst batch and a second batch such that: when the first batch is beingoperated on by one of the at least one reagent dispenser, the qualitycontrol module, the harvesting module, and the robotic module, thesecond batch is being operated on by an other of the at least onereagent dispenser, the quality control module, the harvesting module,and the robotic module.
 46. The system of claim 45, further configuredto: receive a second batch into the enclosure before a first batch istransported out of the enclosure; and sequentially process each of thefirst batch and the second batch without cross contamination from theother of the first batch and the second batch.
 47. The system of claim46, further comprising a particle sensor communicatively coupled to theCU for measuring a particle count inside the enclosure, wherein: the CUis configured to allow receiving of the second batch into the enclosureresponsive to the particle count satisfying a predetermined criterion.48. The system of any one of claims 34 to 47, further comprising: anautomatic sterilizing module communicatively coupled to the CU forautomatically sterilizing the enclosure before inserting the secondbatch into the enclosure.
 49. The system of any one of claims 34 to 48,further comprising: a waste receptacle selectively fluidly connected tothe enclosure at a location remote from a center of the closedenclosure. 49A. The system of any one of claims 34 to 48, furthercomprising: a waste receptacle selectively fluidly connected to theenclosure in a configuration that prevents particles in the wastereceptacle from entering the enclosure.
 50. The system of claim 49 or49A, wherein an air pressure in the waste receptacle is controlled to belower than an air pressure inside the enclosure.
 51. The system of claim49 or 49A or 50, wherein the enclosure is connected to the wastereceptacle by a conduit configured to prevent backsplashing of wastematerial deposited into the conduit for disposal into the wastereceptacle.
 52. The system of any one of claims 34 to 51, furthercomprising: an incubator selectively fluidly connected to the enclosure;and a gate between the enclosure and the incubator being configured tobe open for automatic transferring of the batch from the enclosure tothe incubator and for automatic transferring of the batch from theincubator to the enclosure, the enclosure being fluidly connected to theincubator when the gate is open and the enclosure being sealed from theincubator when the gate is closed.
 53. The system of any one of claims34 to 52, further comprising: a centrifuge selectively fluidly connectedto the enclosure; and a gate between the enclosure and the centrifugebeing configured to be open for automatic transferring of the batch fromthe enclosure to the centrifuge and for automatic transferring of thebatch from the centrifuge to the enclosure, the enclosure being fluidlyconnected to the centrifuge when the gate is open and the enclosurebeing sealed from the centrifuge when the gate is closed.
 54. The systemof any one of claims 34 to 53, wherein the robotic module comprises aplurality of robotic modules.
 55. The system of any one of claims 34 to54, wherein the robotic module is configured for at least one of:transporting a container; decapping or otherwise opening the container;pipetting a reagent or liquid from the container; and aspirating aliquid from the container. 55A. The system of claim 55, wherein theliquid is cell culture media.
 56. The system of any one of claims 34 to55A, wherein one of the plurality of reagent containers is placedoutside of the enclosure and connected to one of the at least onereagent dispensers by a fill line.
 57. The system of any one of claims34 to 56, further comprising a tilt module configured to tilt acontainer.
 58. The system of claim 57, wherein the tilt module is amagnetic tilt module for separating magnetically tagged contents in thecontainer from magnetically untagged contents of the container whiletilting the container.
 59. The system of any one of claims 34 to 58,wherein the quality control module is one of: a flow cytometer; a platereader; a microscope; and a PCR machine.
 60. The system of any one ofclaims 34 to 59, wherein the quality control module comprises aplurality of quality control modules.
 61. The system of any one ofclaims 34 to 60, wherein the harvesting module comprises at least oneof: a container for holding a solution; a freezer or a cryofreezer; anda packaging module configured to place the batch in a transportcontainer.
 62. The system of any one of claims 34 to 61, furthercomprising an isolator, the enclosure being selectively fluidlyconnected to the isolator, and objects from outside the system beingreceived into the enclosure via the isolator, and/or objects from insidethe enclosure being passed out of the system via the isolator.
 63. Thesystem of claim 62, wherein: an air pressure inside the enclosure isgreater than an air pressure in the isolator; and an air pressure insidethe isolator is greater than an air pressure adjacent to the isolator ina direction other than the enclosure, or an ambient air pressure outsidethe system.
 64. The system of claim 62 or 63, further comprising abiological safety cabinet (BSC), the isolator being selectively fluidlyconnected to the BSC, and objects from outside the system being receivedinto the isolator via the BSC, objects from inside the enclosure beingpassed out of the system by passing from the enclosure to the isolatorand from the isolator to the BSC via the isolator.
 65. The system of anyone of claims 34 to 64, further comprising: one or more of arefrigerator and a freezer selectively fluidly connected to theenclosure; and a gate between the enclosure and the one or morerefrigerator or freezer being configured to be open for automatictransferring of the batch from the enclosure to the freezer and forautomatic transferring of the batch from the one or more refrigerator orfreezer to the enclosure, the enclosure being fluidly connected to theone or more refrigerator or freezer when the gate is open and theenclosure being sealed from the one or more refrigerator or freezer whenthe gate is closed.
 66. The system of any one of claims 34 to 65,wherein: the enclosure is a first enclosure; the plurality of reagentcontainers is a plurality of first reagent containers; at least onereagent dispenser is an at least one first reagent dispenser; thequality control module is a first quality control module for analyzingat least one characteristic of a first batch; the harvesting module is afirst harvesting module; and the robotic module is a first roboticmodule; the system further comprising: an incubator disposed outside thefirst enclosure, the first enclosure being selectively fluidly connectedto the incubator; a second closed and sterile enclosure selectivelyfluidly connected to the first enclosure or to the incubator; aplurality of second reagent containers; at least one second reagentdispenser; a second quality control module for analyzing at least onecharacteristic of a second batch; a second harvesting module; and asecond robotic module, the CU being communicatively coupled to the atleast one first and second reagent dispenser, the first and secondquality control module, the first and second harvesting module and thefirst and second robotic module for controlling automatic processing ofthe first and second batches without handling by a human operator. 67.The system of any one of claims 34 to 66, wherein the system isselectively fluidly connected to a second system for automatedprocessing of batches derived from biological samples, the second systemcomprising: a second closed and sterile enclosure; a second plurality ofreagent containers; a second at least one reagent dispenser; a secondquality control module for analyzing at least one characteristic of abatch; a second harvesting module; a second robotic module; and a secondcontrol unit (CU) communicatively coupled to the at least one reagentdispenser, the quality control module, the harvesting module and therobotic module for controlling said automatic processing of saidbatches, said automatic processing being executable without handling bya human operator; the CU and the second CU optionally beingcommunicatively coupled to each other.
 68. The system of claim 67,wherein the system and the second system are selectively fluidlyconnected via a second freezer or a second incubator, the second freezeror the second incubator being disposed outside both the enclosure andthe second enclosure and being selectively fluidly connected to each ofthe enclosure and the second enclosure.
 69. The system of any one ofclaims 1 to 68 further comprising a robotic arm configured to receive asample into the enclosure.
 70. The system of any one of claims 1 to 69,further comprising a quality assurance module.
 71. An automated methodfor processing a batch in a closed and sterile enclosure, the batchbeing derived from a biological sample inserted into the enclosure, theautomated method comprising: automatically processing the batch with oneor more reagents; automatically analyzing at least one characteristic ofthe batch; and after automatically processing the batch, automaticallyharvesting the batch for reception outside the enclosure; the automatedmethod being executable without any handling by a human operator. 72.The method of claim 71 further comprising measuring a particle countinside the enclosure.
 73. The method of claim 71 or 72, furthercomprising: controlling an air pressure inside the enclosure to begreater than an air pressure outside the enclosure.
 74. The method ofany one of claims 71 to 73, further comprising electronically trackingthe batch.
 75. The method of any one of claims 71 to 74, furthercomprising: determining a process rate based on the automaticallyanalyzed at least one characteristic.
 76. The method of any one ofclaims 71 to 75, wherein the batch comprises a plurality of batches, andthe method comprises automatically processing each of the plurality ofbatches without cross-contamination between batches.
 77. The method ofclaim 76, wherein the plurality of batches comprises: a first batchincluding cells of a first type when inserted into the enclosure; and asecond batch including cells of a second type when inserted into theenclosure.
 78. The method of claim 77, wherein the first type isdifferent from the second type.
 79. The method of claim 77, wherein thefirst type is the same as the second type.
 80. The method of any one ofclaims 77 to 79, wherein: the automatically processing of the firstbatch is for transforming cells of the first type into cells of a thirdtype; and the automatically processing of the second batch is fortransforming cells of the second type into cells of a fourth type. 81.The method of claim 80, wherein the third type is different from thefourth type.
 82. The method of claim 80, wherein the third type is thesame as the fourth type.
 83. The method of any one of claims 71 to 76,wherein the batch is a first batch, and the method further comprises:inserting a second batch into the enclosure; automatically processingthe second batch within the enclosure without interrupting the automaticprocessing of the first batch and without cross contamination from thefirst batch; automatically analyzing at least one characteristic of thesecond batch; and automatically harvesting the second batch after theautomatically processing.
 84. The method of claim 83, wherein: thesecond batch is inserted into the enclosure before the first batch isharvested.
 85. The method of claim 83 or 84, further comprisingmeasuring a particle count inside the enclosure, wherein: the secondbatch is inserted into the enclosure responsive to the particle countsatisfying a predetermined criterion.
 86. The method of any one ofclaims 83 to 85, further comprising measuring a particle count insidethe enclosure wherein: the first batch and the second batch areautomatically processed based on the particle count satisfying apredetermined criterion
 87. The method of any one of claims 83 to 86,further comprising: automatically sterilizing the enclosure beforeinserting the second batch into the enclosure.
 88. The method of any oneof claims 71 to 87, further comprising: automatically disposing wastematerial in a waste receptacle selectively fluidly connected to theenclosure at a location remote from a majority of processing stations inthe enclosure.
 89. The method of claim 88, further comprising:controlling an air pressure inside the waste receptacle to be lower thanan air pressure inside the closed enclosure.
 90. The method of any oneof claims 71 to 89, further comprising: automatically transferring thebatch from the enclosure to a closed and sterile incubator, theenclosure being selectively fluidly connected to the incubator;incubating the at least one batch; automatically transferring the batchfrom the incubator to the closed enclosure; and controlling a gatebetween the enclosure and the incubator to be open during the automatictransferring of the batch from the enclosure to the incubator and theautomatic transferring of the batch from the incubator to the enclosure,the enclosure being fluidly connected to the incubator when the gate isopen and the closed enclosure being sealed from the incubator when thegate is closed.
 91. The method of any one of claims 71 to 90, furthercomprising: automatically transferring the batch from the enclosure to aclosed and sterile centrifuge, the enclosure being selectively fluidlyconnected to the centrifuge; centrifuging the at least one batch;automatically transferring the at least one batch from the centrifuge tothe closed enclosure; and controlling a gate between the enclosure andthe centrifuge to be open during the automatic transferring of the batchfrom the enclosure to the centrifuge and the automatic transferring ofthe batch from the centrifuge to the enclosure, the closed enclosurebeing fluidly connected to the centrifuge when the gate is open and theclosed enclosure being sealed from the centrifuge when the gate isclosed.
 92. The method of any one of claims 71 to 91, wherein the one ormore reagents comprises a reprogramming agent.
 93. The method of claim92, wherein the reprogramming agent comprises a small molecule, achemical compound, a peptide, or a polynucleotide encoding a peptide.94. The method of claim 92 or 93, wherein the reprogramming agent is agene regulator or acts to increase expression of a gene regulator incells in the batch.
 95. The method of any one of claims 71 to 94,further comprising: automatically transferring the batch from a firstprocessing station to a second processing station.
 96. The method of anyone of claims 71 to 95, wherein automatically processing the batch withone or more reagents comprises: automatically performing a passagingprotocol for placing the batch from a first cell processing container toa plurality of second cell processing containers.
 97. The method of anyone of claims 71 to 96, wherein automatically harvesting comprises:automatically placing the batch into a transport container.
 98. Themethod of any one of claims 71 to 97, wherein automatically harvestingcomprises: freezing or cryofreezing the batch.
 99. The method of claim98, wherein cryofreezing comprises nucleated cryofreezing.
 100. Themethod of any one of claims 71 to 99, wherein the automaticallyanalyzing at least one characteristic of the batch comprises analyzingat least one of: a cell confluency; a cell number; a cell viability; acell density; a cell diameter; a marker expression; a morphologicalcharacteristic; a cell differentiation characteristic; a cell potency; acell purity; a cell sterility; and a cell identity;
 101. The method ofany one of claims 71 to 100, wherein at least one characteristic of thebatch is automatically analyzed before completion of said automaticallyprocessing the batch with said one or more reagents.
 102. The method ofany one of claims 71 to 101, wherein at least one characteristic of thebatch is automatically analyzed after completion of said processing thebatch with said one or more reagents.
 103. The method of any one ofclaims 71 to 102, wherein at least one characteristic of the batch isautomatically analyzed before harvesting the batch.
 104. The method ofany one of claims 71 to 103, wherein the method is executed incompliance with good manufacturing practice (GMP) guidelines.
 105. Themethod of any one of claims 71 to 104, further comprising controlling anenvironment in the enclosure to maintain the enclosure as at least aclass 10 environment.
 106. The method of any one of claims 71 to 105,further comprising: receiving objects into the enclosure via an isolatorselectively fluidly connected to the enclosure, the isolator beingsterile and closed.
 107. The method of claim 106, further comprising:sterilizing objects in the isolator before passing objects from theisolator into the enclosure.
 108. The method of claim 106 or 107,further comprising: passing objects from the enclosure to an outside ofthe enclosure via the isolator.
 109. The method of any one of claims 106to 108, further comprising: receiving objects into a biological safetycabinet (BSC) before passing the objects from the BSC into the isolatorand via the isolator into the enclosure, the BSC being selectivelyfluidly connected to the isolator, the BSC being sterile and closed.110. The method of claim 109, further comprising: passing objects fromthe isolator or a second isolator to an outside of the enclosure via thebiological safety cabinet (BSC or a second biological safety cabinet.111. An automated method for processing a batch in a closed and sterileenclosure, the batch being derived from a biological sample insertedinto the enclosure, the automated method comprising: automaticallyprocessing the batch with one or more reagents; automatically analyzingat least one characteristic of the batch; and after automaticallyprocessing the batch, automatically harvesting the batch for receptionoutside the enclosure; wherein the automated method is capable ofprocessing a plurality of batches without cross-contamination betweenbatches.
 112. The method of claim 111, wherein the plurality of batchesare processed at the same time using sequential processing.
 113. Themethod of claim 111 or 112, wherein the plurality of batches areprocessed in compliance with good manufacturing practice (GMP)guidelines.
 114. The method of any one of claims 111 to 113, wherein theautomated method is executable without any handling by a human operator.115. The method of any one of claims 111 to 114, further comprisingmeasuring a particle count inside the enclosure.
 116. The method of anyone of claims 111 to 115, further comprising: controlling an airpressure inside the enclosure to be greater than an air pressure outsidethe enclosure.
 117. The method of any one of claims 111 to 116, furthercomprising electronically tracking the batch.
 118. The method of any oneof claims 111 to 117, further comprising: determining a process ratebased on the automatically analyzed at least one characteristic. 119.The method of any one of claims 111 to 118, wherein the plurality ofbatches comprises: a first batch including cells of a first type wheninserted into the enclosure; and a second batch including cells of asecond type when inserted into the enclosure.
 120. The method of claim119, wherein the first type is different from the second type.
 121. Themethod of claim 119, wherein the first type is the same as the secondtype.
 122. The method of any one of claims 119 to 121, wherein: theautomatically processing of the first batch is for transforming cells ofthe first type into cells of a third type; and the automaticallyprocessing of the second batch is for transforming cells of the secondtype into cells of a fourth type.
 123. The method of claim 122, whereinthe third type is different from the fourth type.
 124. The method ofclaim 122, wherein the third type is the same as the fourth type. 125.The method of any one of claims 111 to 124, wherein the batch is a firstbatch, and the method further comprises: inserting a second batch intothe enclosure; automatically processing the second batch within theenclosure without interrupting the automatic processing of the firstbatch and without cross contamination from the first batch;automatically analyzing at least one characteristic of the second batch;and automatically harvesting the second batch after the automaticallyprocessing.
 126. The method of claim 125, wherein: the second batch isinserted into the enclosure before the first batch is harvested. 127.The method of claim 125 or 126, further comprising measuring a particlecount inside the enclosure, wherein: the second batch is inserted intothe enclosure responsive to the particle count satisfying apredetermined criterion.
 128. The method of any one of claims 111 to127, further comprising measuring a particle count inside the enclosurewherein: the first batch and the second batch are automaticallyprocessed based on the particle count satisfying a predeterminedcriterion
 129. The method of any one of claims 111 to 128, furthercomprising: automatically sterilizing the enclosure before inserting thesecond batch into the enclosure.
 130. The method of any one of claims111 to 129, further comprising: automatically disposing waste materialin a waste receptacle selectively fluidly connected to the enclosure ata location remote from a majority of processing stations in theenclosure.
 131. The method of claim 130, further comprising: controllingan air pressure inside the waste receptacle to be lower than an airpressure inside the closed enclosure.
 132. The method of any one ofclaims 111 to 131, further comprising: automatically transferring thebatch from the enclosure to a closed and sterile incubator, theenclosure being selectively fluidly connected to the incubator;incubating the at least one batch; automatically transferring the batchfrom the incubator to the closed enclosure; an controlling a gatebetween the enclosure and the incubator to be open during the automatictransferring of the batch from the enclosure to the incubator and theautomatic transferring of the batch from the incubator to the enclosure,the enclosure being fluidly connected to the incubator when the gate isopen and the closed enclosure being sealed from the incubator when thegate is closed.
 133. The method of any one of claims 111 to 132, furthercomprising: automatically transferring the batch from the enclosure to aclosed and sterile centrifuge, the enclosure being selectively fluidlyconnected to the centrifuge; centrifuging the at least one batch;automatically transferring the at least one batch from the centrifuge tothe closed enclosure; and controlling a gate between the enclosure andthe centrifuge to be open during the automatic transferring of the batchfrom the enclosure to the centrifuge and the automatic transferring ofthe batch from the centrifuge to the enclosure, the closed enclosurebeing fluidly connected to the centrifuge when the gate is open and theclosed enclosure being sealed from the centrifuge when the gate isclosed.
 134. The method of any one of claims 111 to 133, wherein the oneor more reagents comprises a reprogramming agent.
 135. The method ofclaim 134, wherein the reprogramming agent comprises a small molecule, achemical compound, a peptide, or a polynucleotide encoding a peptide.136. The method of claim 134 or 135, wherein the reprogramming agent isa gene regulator or acts to increase expression of a gene regulator incells in the batch.
 137. The method of any one of claims 111 to 136,further comprising: automatically transferring the batch from a firstprocessing station to a second processing station.
 138. The method ofany one of claims 111 to 137, wherein automatically processing the batchwith one or more reagents comprises: automatically performing apassaging protocol for placing the batch from a first cell processingcontainer to a plurality of second cell processing containers.
 139. Themethod of any one of claims 111 to 138, wherein automatically harvestingcomprises: automatically placing the batch into a transport container.140. The method of any one of claims 111 to 139, wherein automaticallyharvesting comprises: cryofreezing the batch.
 141. The method of claim140, wherein cryofreezing comprises nucleated cryofreezing.
 142. Themethod of any one of claims 111 to 141, wherein the automaticallyanalyzing at least one characteristic of the batch comprises analyzingat least one of: a cell confluency; a cell number; a cell viability; acell density; a cell diameter; a marker expression; a morphologicalcharacteristic; a cell differentiation characteristic; a cell potency; acell purity; a cell sterility; and a cell identity;
 143. The method ofany one of claims 111 to 142, wherein at least one characteristic of thebatch is automatically analyzed before completion of said automaticallyprocessing the batch with said one or more reagents.
 144. The method ofany one of claims 111 to 143, wherein at least one characteristic of thebatch is automatically analyzed after completion of said processing thebatch with said one or more reagents.
 145. The method of any one ofclaims 111 to 144, wherein at least one characteristic of the batch isautomatically analyzed before harvesting the batch.
 146. The method ofany one of claims 111 to 145, wherein the method is executed incompliance with good manufacturing practice (GMP) guidelines.
 147. Themethod of any one of claims 111 to 146, further comprising controllingan environment in the enclosure to maintain the enclosure as at least aclass 10 environment.
 148. The method of any one of claims 111 to 147,further comprising: receiving objects into the enclosure via an isolatorselectively fluidly connected to the enclosure, the isolator beingsterile and closed.
 149. The method of claim 148, further comprising:sterilizing objects in the isolator before passing objects from theisolator into the enclosure.
 150. The method of claim 148 or 149,further comprising: passing objects from the enclosure to an outside ofthe enclosure via the isolator.
 151. The method of any one of claims 148to 150, further comprising: receiving objects into a biological safetycabinet (BSC) before passing the objects from the BSC into the isolatorand via the isolator into the enclosure, the BSC being selectivelyfluidly connected to the isolator, the BSC being sterile and closed.152. The method of claim 151, further comprising: passing objects fromthe isolator or a second isolator to an outside of the enclosure via thebiological safety cabinet (BSC) or a second biological safety cabinet.153. The method of any one of claims 71 to 152 further comprising:introducing the sample into the enclosure; automatically preparing thebatch from the sample after introduction of the sample and beforeprocessing of the batch.
 154. The method of claim 153, wherein thesample is introduced into the enclosure robotically.
 155. The method ofany one of claims 71 to 154, further comprising: automatically packagingthe batch for storage or transport.
 156. The method of any one of claims71 to 155, further comprising: automatically sterilizing the enclosure.157. The method of any one of claims 71 to 156, further comprising:automatically conducting quality assurance analysis.
 158. The method ofclaim 157, wherein the quality assurance analysis comprises reviewingthe steps executed for the batch and determining if pre-determinedcriteria are met.
 159. The method of claim 157 or 158, wherein thequality assurance analysis comprises testing for sterility, endotoxin,or mycoplasma.
 160. The method of any one of claims 157 to 159, whereinthe pre-determined criteria are GMP regulations.
 161. The method of anyone of claims 157 to 160, further comprising automatically producing aquality assurance report.
 162. A method for automated sterilization ofan enclosure for processing of batches comprising: injecting sterilantinto the enclosure via a sterilant inlet; circulating within theenclosure sterilant received via the sterilant inlet; removing, from theenclosure, the sterilant circulating within the enclosure; closing atleast one port of the enclosure other than the sterilant inlet andsterilant outlet before injecting sterilant into the enclosure andkeeping the at least one port closed while injecting sterilant into theenclosure; and removing from the enclosure, or sealing within asub-enclosure of the enclosure, any container containing a portion ofthe batches before receiving sterilant into the enclosure.
 163. Themethod of claim 162, wherein the at least one port is a refrigerator orfreezer access port connecting a refrigerator or freezer disposedoutside the enclosure to the enclosure and further comprising: closingan insulation door of the refrigerator or freezer, the insulation doorproviding an additional layer of insulation between the enclosure andthe refrigerator or freezer.
 164. A robotic aspirator comprising: arobotic arm configured to move in at least one direction; a bodyconnected to the robotic arm; an aspiration member comprising a fluidflow channel connected to the body, the aspiration member beingconfigured for connection to a pump means; the body being configured tohold a disposable tip for providing fluid connection between thedisposable tip and the fluid flow channel of the aspiration member;fluid being aspirated through the disposable tip and the fluid flowchannel when the disposable tip is fluidly connected to the fluid flowchannel and the aspiration member is connected to the pump means. 165.The robotic aspirator of claim 164, further comprising a plurality ofprongs connected to the body, the prongs being moveable between a tipholding position and a retracted position, the prongs being configuredin the tip holding position to hold the disposable tip for providingfluid connection between the disposable tip and the fluid flow channelof the aspiration member.
 166. The robotic aspirator of claim 165, theplurality of prongs being further configured for gripping objects otherthan the disposable tip.
 167. A method of aspirating a sample using therobotic aspirator of any one of claims 164 to
 166. 168. The system ofany one of the preceding claims comprising the robotic aspirator of anyone of claims 164 to
 166. 169. The system of claim 168, comprising meansfor engaging and/or disengaging the disposable tip from the roboticaspirator without handling by a human operator.
 170. The method of anyone of the preceding claims comprising a step of aspirating a sampleusing the robotic aspirator of any one of claims 164 to
 166. 171. Amethod of aspirating using a robotic arm having a fluid flow channel anda plurality of prongs configured to selectively hold a disposable tip influid connection with the fluid flow channel, the method comprising:moving the prongs to retain the disposable tip in fluid connection withthe fluid flow channel, the prongs being selectively moveable andoptionally further configured to grip at least one object other than thedisposable tip; and evacuating the fluid flow channel to aspirate liquidthrough the disposable tip and the fluid flow channel.
 172. The methodof claim 171, further comprising: after aspirating liquid, disengagingthe prongs from the disposable tip; and stopping evacuation of the fluidflow channel to disengage the disposable tip from the fluid flowchannel.
 173. The method of claim 172, wherein the disposable tipdisengages from the fluid flow channel without handling by a humanoperator.
 174. The method of any one of the preceding claims furthercomprising the method of any one of claims 171 to
 173. 175. The systemof any one of the preceding claims, comprising an automated liquid fillstation housed inside the enclosure and configured for direct filling ofliquid from a supply container disposed inside or outside the enclosureinto a cell processing container disposed inside the enclosure,optionally wherein the liquid is media, optionally wherein the liquidfill station is configured to dispense more than 5 mL of liquid at atime.
 176. The method of any one of the preceding claims, comprising astep of direct filling a liquid from a supply container disposed insideor outside the enclosure into a cell processing container disposedinside the enclosure, optionally wherein the liquid is media, optionallywherein more than 5 mL of liquid is dispensed at a time.
 178. The systemof any one of the preceding claims, comprising robotic means for tiltinga cell processing container, for delivery of cells or media theretoand/or removal of cells or media therefrom.
 179. The system of claim178, wherein the cell processing container is exposed to a magnet duringtilting, for magnetic sorting, separation or treatment of cells. 180.The system of any one of the preceding claims, comprising robotic meansfor capping and decapping screwcap lids of containers.
 181. The systemof claim 180, wherein the containers are sized to hold volumes ofgreater than 10 mL or greater than 2 mL.
 182. The system of any one ofthe preceding claims, comprising automated means for purifying cellmixtures or obtaining a cell pellet.
 183. The system of claim 182,wherein said means comprises a centrifuge.
 184. The system of any one ofthe preceding claims, comprising means for incubating cells.
 185. Thesystem of any one of the preceding claims, comprising automated meansfor determining cell number or cell confluency in a sample.
 186. Thesystem of any one of the preceding claims, comprising a vertical wastechute for discarding solid waste configured so that the waste does nothit the edges of the chute, and placed under sufficient negativepressure such that particles from the chute do not enter the enclosure.187. The system of any one of the preceding claims, comprisingsterilization means for sterilizing the enclosure.
 188. The system ofclaim 187, wherein the system is configured to allow sterilization ofthe enclosure without removing the batches from the system.
 189. Thesystem of any one of the preceding claims, comprising robotic means forfreezing of batches and/or means for manipulation of samples or reagentsat subzero temperatures.
 190. The system of any one of the precedingclaims, the system comprising an enclosure and one or more of thefollowing automated components: (1) a robotic aspirator housed withinthe enclosure and configured for use with disposable tips, as describedin any one of claims 164 to 166; (2) a decapper housed within theenclosure and configured to decap a screwcap lid of a container,optionally wherein the container is of 10 mL or greater volume or of 2mL or greater volume; (3) a centrifuge, cell sorter, or magnet; (4) anincubator; (5) a module for determining confluency of cells and/or cellnumber; (6) a liquid fill module housed inside the enclosure andconfigured for direct filling of liquid from a supply container disposedinside or outside the enclosure into a cell processing containerdisposed inside the enclosure, optionally wherein the liquid is media,optionally wherein the liquid fill station is configured to dispensemore than 5 mL of liquid at a time; and (7) a tilt module configured fortilting a cell processing container, for removal or collection of cellsor media therefrom, optionally wherein the tilt module is magnetic. 191.The system of claim 190, wherein the system comprises two or more, threeor more, four or more, five or more, more than 5 or all of the automatedcomponents (1) to (7).
 192. The system of any one of the precedingclaims, wherein the system further comprises a module for qualityassurance.
 193. A method for automated processing of cells, the methodcomprising the steps of: providing a biological sample to a closed andsterile enclosure, the closed and sterile enclosure housing: roboticmeans for receiving the biological sample; robotic means for preparingcells for processing from the biological sample; robotic means forprocessing the cells; robotic means for analyzing at least onecharacteristic of a batch; and robotic means for harvesting the cellsafter processing; providing a control unit communicatively coupled tothe enclosure for controlling each of said robotic means, and thecontrol unit executing a desired processing program in the enclosure,said automated processing being executed without handling by a humanoperator.
 194. The method of claim 193, wherein the enclosure furtherhouses robotic means for packaging, and optionally labelling the cellsfor storage and/or transport, after harvesting.
 195. The method of claim193 or 194, wherein the enclosure further houses means for qualityassurance and/or automated pass/fail criteria for approving or notapproving the release of a batch.
 196. The method of any one of claims193 to 195, wherein the enclosure, the robotic means and/or the controlunit are configured to process a plurality of biological samples andcells prepared therefrom without cross-contamination.
 197. The method ofany one of claims 193 to 196, wherein said method is executed underconditions that meet GMP guidelines and regulations.
 198. A biologicalsample prepared using the automated system or method of any one of thepreceding claims.
 199. The biological sample of claim 198, wherein thebiological sample comprises a population of cells, a tissue matrix, anantibody, a protein, a biological compound, or a chemical compound. 200.The biological sample of claim 199, wherein the population of cellscomprises multipotent, unipotent, somatic, or stem-like cells that havebeen obtained by reprogramming from another cell of a different type.201. The biological sample of claim 199 or 200, wherein the populationof cells comprises a population of in vitro human multipotent,unipotent, or somatic cells derived from the reprogramming of a somaticcell, a progenitor cell or a stem cell that exhibits at least atransient increase in intracellular levels of at least one reprogrammingagent; wherein the multipotent, unipotent or somatic cells exhibit astable, non-forced gene expression profile comprising (a) reducedexpression of one or more markers specific to the somatic cell,progenitor cell, or stem cell from which the multipotent, unipotent, orsomatic cell is derived; (b) maintained expression of one or moremarkers specific to the somatic cell, progenitor cell, or stem cell fromwhich the multipotent, unipotent, or somatic cell is derived; and (c)expression of markers and characteristics of a reprogrammed multipotent,unipotent, or somatic cell; wherein the multipotent, unipotent orsomatic cells are not differentiated from a pluripotent cell; whereinthe multipotent, unipotent or somatic cells are not cancerous; andwherein the multipotent, unipotent or somatic cells do not exhibituncontrolled growth, teratoma formation, and tumor formation.
 202. Thebiological sample of any one of claims 199 to 201, wherein: thepopulation of cells comprises neural stem cells, neural stem-like cells,neural precursor cells, neural progenitor cells, neuroblasts, neurons,cardiac cells, hematopoietic cells, cells of ectoderm, mesoderm orendoderm lineage, pluripotent cells, multipotent cells, unipotent cells,somatic cells, naturally occurring cells, non-naturally occurring cells,prokaryotic cells, and/or eukaryotic cells. the population of cellscomprises cells that can differentiate into a plurality of progenitor,precursor, or somatic cells; the population comprises cells having theability to proliferate for more than 30 population doublings, or cellscapable of maintaining telomerase activity through to at least about 30population doublings; and/or the doubling time of the cell population isless than 7 days or less than 3 days.
 203. A population of in vitrohuman multipotent, unipotent, or somatic cells derived from thereprogramming of a somatic cell, a progenitor cell or a stem cell of adifferent type using the automated system or method of any one of thepreceding claims.
 204. An automated process for reprogramming a cell ofa first type to a desired cell of a different type that is multipotentor unipotent, the cell of a first type being a somatic cell, a stemcell, or a progenitor cell, the automated process executable by thesystem of any one of the preceding claims, the automated processcomprising: introducing into the cell of a first type using roboticmeans an agent capable of remodeling the chromatin and/or DNA of thecell, wherein the agent capable of remodeling the chromatin and/or DNAis a histone acetylator, an inhibitor of histone deacetylation, a DNAdemethylator, and/or a chemical inhibitor of DNA methylation;transiently increasing intracellular levels of at least onereprogramming agent in the cell of a first type using robotic means,wherein the at least one reprogramming agent increases directly orindirectly the endogenous expression of at least one multipotent orunipotent gene regulator to a level at which the gene regulator iscapable of driving transformation of the cell of a first type into themultipotent or unipotent cell; wherein the cell of a first type ismaintained in culture conditions supporting the transformation of thecell of a first type to the multipotent or unipotent cell for asufficient period of time to allow a stable expression of a plurality ofsecondary genes characteristic of the phenotypical and/or functionalproperties of the multipotent or unipotent cell, where one or more ofthe secondary genes is not characteristic of phenotypical and functionalproperties of an embryonic stem cell and wherein stable expression ofthe plurality of secondary genes occurs in the absence of thereprogramming agent, whereby at the end of said period of time the cellof a first type has been transformed into the multipotent or unipotentcell, where the multipotent or unipotent cell expresses at least onemarker characteristic of the cell of a first type.